ST-π structures VLA models by having a spatiotemporal VLM produce causally ordered chunk-level prompts that guide a dual-generator action expert to jointly handle spatial and temporal control in robotic manipulation.
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SV-VLA uses infrequent heavy VLA planning of action chunks plus a lightweight closed-loop verifier to achieve both efficiency and robustness in dynamic robot control.
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ST-$\pi$: Structured SpatioTemporal VLA for Robotic Manipulation
ST-π structures VLA models by having a spatiotemporal VLM produce causally ordered chunk-level prompts that guide a dual-generator action expert to jointly handle spatial and temporal control in robotic manipulation.
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Open-Loop Planning, Closed-Loop Verification: Speculative Verification for VLA
SV-VLA uses infrequent heavy VLA planning of action chunks plus a lightweight closed-loop verifier to achieve both efficiency and robustness in dynamic robot control.