MCF-Proto adds a motion-centric local action frame and prototype parameterization to VLA models, inducing emergent geometric structure and improved robustness from standard demonstrations alone.
Dynamical movement primitives: learning attractor models for motor behaviors.Neural computation, 25(2):328–373
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Beyond World-Frame Action Heads: Motion-Centric Action Frames for Vision-Language-Action Models
MCF-Proto adds a motion-centric local action frame and prototype parameterization to VLA models, inducing emergent geometric structure and improved robustness from standard demonstrations alone.