The paper introduces health-conditioned VLA models that incorporate a health vector via a new projector module and train on 128 malfunction episodes in the LIBERO simulator to complete tasks despite degraded joints.
I-failsense: Towards general robotic failure detection with vision-language models,
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Health-Conditioned Vision-Language-Action Models for Malfunction-Aware Robot Control
The paper introduces health-conditioned VLA models that incorporate a health vector via a new projector module and train on 128 malfunction episodes in the LIBERO simulator to complete tasks despite degraded joints.