Robot visuomotor policies are commonly formulated as autoregressive, diffusion-based, or more recently, flow matching models. Among them, Action-to-Action (A2A) flow matching improves inference efficiency by initializing generation from historical action priors rather than stochastic noise. However, stale historical mo...
Ji-Jie Li, Xu Yang, Jun-Hong Zou et al.· 0 citations
Recent Vision-Language-Action (VLA) methods improve generalization by aligning their representations with 3D scene geometry. However, these methods are fundamentally instruction-agnostic: the representations align the entire scene uniformly, neglecting the 3D geometry of the specific target object designated by the lan...
Xing-Yu Ding, Yu-Zhong Zhao, Yang Wu et al.· 1 citation
This work introduces a history pathway that enables a vanilla VLA model to summarize observation history into temporally aware latent representations, which captures the evolving 3D world through temporally consistent geometric representations, enabling a deeper understanding of dynamic environments.
Xing-Yu Ding, Yu-Zhong Zhao, Chun-Ming Zhao et al.· 0 citations
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