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Bok-hwa Kang

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#machine learning Preprint Sep 2026

The Latent That Never Was: A Forensic Re-run of the CVAE Ablation in Action Chunking Transformers

The original ACT paper reported that encoder removal dropped the mean success rate from 35% to 2% on two simulated tasks with human demonstrations, but this drop does not reappear in tests, although smaller gains or losses in success rate remain uncertain.

Bok-hwa Kang · 0 citations