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It is shown that JEPA features outperform video VAE latents, most clearly out of distribution, and that training-time future prediction choices significantly impact the policy even when future prediction is skipped at inference, suggesting that robot foundation models may benefit from architectures designed for control...
AnyBox is presented, an efficient zero-shot framework that exploits the geometric regularity of boxes to jointly recover pose and dimensions from a single RGB-D observation, and approaches instance-level pipelines that have access to ground-truth CAD models.
Faster-WAM, an instantiation of DoT for WAMs, which docks a single-layer action head onto a 30-layer video backbone, achieves competitive performance on LIBERO and RoboTwin 2.0 while demonstrating strong out-of-distribution generalization on LIBERO-Plus.
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