ACE-Ego-0 is a VLA pretraining framework that turns egocentric human videos into robot-format pseudo-actions via a video-to-action pipeline and trains jointly with robot data under a reliability-aware objective.
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Introduces CausalPhys benchmark with causal graphs and CRFT fine-tuning to improve VLMs' causal physical reasoning accuracy and interpretability.
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ACE-Ego-0: Unifying Egocentric Human and Robotic Data for VLA Pretraining
ACE-Ego-0 is a VLA pretraining framework that turns egocentric human videos into robot-format pseudo-actions via a video-to-action pipeline and trains jointly with robot data under a reliability-aware objective.
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Causal Scaffolding for Physical Reasoning: A Benchmark for Causally-Informed Physical World Understanding in VLMs
Introduces CausalPhys benchmark with causal graphs and CRFT fine-tuning to improve VLMs' causal physical reasoning accuracy and interpretability.