Explicit geometry-based feasibility supervision added to diffusion VLA training leads to better physical reliability, task success, and faster learning with limited data in manipulation tasks.
V oxposer: Composable 3d value maps for robotic manipulation with language models,
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Can Explicit Physical Feasibility Benefit VLA Learning? An Empirical Study
Explicit geometry-based feasibility supervision added to diffusion VLA training leads to better physical reliability, task success, and faster learning with limited data in manipulation tasks.