A contrastive alignment model plus offline preference learning explicitly grounds hierarchical VLA language descriptions to actions and visuals on LanguageTable, achieving performance comparable to fully supervised fine-tuning while reducing annotation needs.
Hi Robot: Open-Ended Instruction Following with Hi- erarchical Vision-Language-Action Models
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Grounding Hierarchical Vision-Language-Action Models Through Explicit Language-Action Alignment
A contrastive alignment model plus offline preference learning explicitly grounds hierarchical VLA language descriptions to actions and visuals on LanguageTable, achieving performance comparable to fully supervised fine-tuning while reducing annotation needs.