Preprint
Sep 2026
SAVLA: Symmetry-Aware Vision-Language-Action Models for Robotic Manipulation
This work proposes SAVLA, an end-to-end symmetry-aware VLA model for robust and data-efficient policy learning, which keeps the pretrained vision-language backbone entirely frozen while combining it with an equivariant flow-matching action head and a learned canonicalizer.
Jun-Le Li, Weixian Waylon Li, Fu-Xiang Wu et al.
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