KeyStone improves task success rates in diffusion-based physical AI models by up to 13.3% by sampling K trajectories in parallel, clustering them in action space, and returning the medoid of the largest cluster.
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CKT-WAM transfers teacher WAM knowledge to students via compressed text-embedding contexts using LQCA and adapters, reaching 86.1% success on LIBERO-Plus with 1.17% trainable parameters and 83.3% in real-world tasks.
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Geometry Guided Self-Consistency for Physical AI
KeyStone improves task success rates in diffusion-based physical AI models by up to 13.3% by sampling K trajectories in parallel, clustering them in action space, and returning the medoid of the largest cluster.
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CKT-WAM: Parameter-Efficient Context Knowledge Transfer Between World Action Models
CKT-WAM transfers teacher WAM knowledge to students via compressed text-embedding contexts using LQCA and adapters, reaching 86.1% success on LIBERO-Plus with 1.17% trainable parameters and 83.3% in real-world tasks.