LayerRoute: Action-Conditioned Mixture-of-Layers Routing for Vision-Language-Action Policies
Vision-Language-Action (VLA) policies leverage pretrained vision-language models (VLMs) to guide action generation for robot control. VLMs provide hierarchical visual-semantic representations that evolve across layers, from local visual geometry to abstract, language-aligned semantics; different manipulation tasks may...
Zi-Rong Song, Zheng Lu, Hao-Ran Liao et al.
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