UniVLA trains cross-embodiment vision-language-action policies from unlabeled videos via a latent action model in DINO space, beating OpenVLA on benchmarks with 1/20th pretraining compute and 1/10th downstream data.
Partially observable markov decision processes (pomdps) and robotics
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The paper proposes a unified risk map modeling and learning framework integrated with diffusion-based adversarial scenario generation for risk-aware planning in partially observable autonomous driving, demonstrating improved time-to-collision metrics on the Waymo Open Motion Dataset.