Rajat Bhageria

ValueFormer: A Causal Transformer Value Function with Stage-Aware Labels for Semi-Autonomous Vision-Language-Action Policies

Vision-Language-Action (VLA) policies trained by behavior cloning fail silently: from the action stream alone, a collapsing rollout looks much like one making clean progress, because imitation supplies no notion of progress. Reinforcement learning would supply one, but it is impractical here, where real-robot experienc...