Inverse dynamics prediction is added as an auxiliary task to reduce state aliasing in VLA models by directly supervising the vision encoder on action-relevant visual distinctions using only standard observation-action pairs.
Vela, Benjamin E
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Mitigating State Aliasing in Vision-Language-Action Models via Inverse Dynamics Learning
Inverse dynamics prediction is added as an auxiliary task to reduce state aliasing in VLA models by directly supervising the vision encoder on action-relevant visual distinctions using only standard observation-action pairs.