ASCII rendering of visual states enables fine-tuned text-only LLMs to serve as VLA controllers that identify objects and generate feasible action sequences in 2D manipulation benchmarks in simulation and on hardware.
ASCIIBench: Evaluating Language-Model-Based Under- standing of Visually-Oriented Text,
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ASCII Art Turns LLMs into VLA Controllers
ASCII rendering of visual states enables fine-tuned text-only LLMs to serve as VLA controllers that identify objects and generate feasible action sequences in 2D manipulation benchmarks in simulation and on hardware.