Vesta is a unified embodied generalist model that outperforms specialist baselines by over 20% on average and improves real-world robotic task success by over 35%.
3 16 Vesta: A Generalist Embodied Reasoning Model
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MHSA mitigates hallucinations in LVLMs by training an MLP to steer cross-modal attention, extending detection work to mitigation via attention replacement at inference.
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Vesta: A Generalist Embodied Reasoning Model
Vesta is a unified embodied generalist model that outperforms specialist baselines by over 20% on average and improves real-world robotic task success by over 35%.