GuidedVLA improves VLA success rates by manually supervising separate attention heads in the action decoder with auxiliary signals for task-relevant factors.
Skill-aware diffusion for generalizable robotic manipulation
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GuidedVLA: Specifying Task-Relevant Factors via Plug-and-Play Action Attention Specialization
GuidedVLA improves VLA success rates by manually supervising separate attention heads in the action decoder with auxiliary signals for task-relevant factors.