Training VLAs to perform embodied chain-of-thought reasoning about plans, sub-tasks, motions, and grounded visual features before acting raises OpenVLA success rates by 28% on challenging generalization tasks without new robot data.
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OpenVLA achieves 16.5% higher task success than the 55B RT-2-X model across 29 tasks with 7x fewer parameters while enabling effective fine-tuning and quantization without performance loss.
3D Diffuser Actor unifies diffusion policies with 3D scene features to set new state-of-the-art results on RLBench and CALVIN robot benchmarks.
citing papers explorer
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Robotic Control via Embodied Chain-of-Thought Reasoning
Training VLAs to perform embodied chain-of-thought reasoning about plans, sub-tasks, motions, and grounded visual features before acting raises OpenVLA success rates by 28% on challenging generalization tasks without new robot data.
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OpenVLA: An Open-Source Vision-Language-Action Model
OpenVLA achieves 16.5% higher task success than the 55B RT-2-X model across 29 tasks with 7x fewer parameters while enabling effective fine-tuning and quantization without performance loss.
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3D Diffuser Actor: Policy Diffusion with 3D Scene Representations
3D Diffuser Actor unifies diffusion policies with 3D scene features to set new state-of-the-art results on RLBench and CALVIN robot benchmarks.