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.
Operational space control: A theoretical and empirical comparison.The International Journal of Robotics Research, 27(6):737–757
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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.