Dexterity-BEV creates 3D vertex-based inputs and BEV-aligned outputs to reduce spatial-temporal misalignments in end-to-end robot policies trained on diverse datasets and embodiments.
3d diffusion policy: Generalizable visuomotor policy learning via simple 3d representations
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GuidedVLA improves VLA generalization by supervising individual attention heads with manually defined auxiliary signals for three task-relevant factors.
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GuidedVLA: Specifying Task-Relevant Factors via Plug-and-Play Action Attention Specialization
GuidedVLA improves VLA generalization by supervising individual attention heads with manually defined auxiliary signals for three task-relevant factors.