ENAP extracts an emergent Mealy automaton from visuomotor trajectories to act as a high-level planner for a low-level residual policy, yielding up to 27% higher success than end-to-end VLA policies in low-data regimes.
The hierarchically mechanistic mind: an evolutionary systems theory of the human brain, cognition, and behavior.Cognitive, Affective, & Behavioral Neuroscience, 19(6):1319–1351,
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Emergent Neural Automaton Policies: Learning Symbolic Structure from Visuomotor Trajectories
ENAP extracts an emergent Mealy automaton from visuomotor trajectories to act as a high-level planner for a low-level residual policy, yielding up to 27% higher success than end-to-end VLA policies in low-data regimes.