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.
A unified approach for motion and force control of robot manipulators: The operational space formulation.IEEE Journal on Robotics and Automation, 3(1):43–53
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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.