AttenA+ reweights action training objectives in VLA and WAM models via inverse velocity attention to prioritize kinematically critical segments, yielding small benchmark gains.
Coarse-to-fine imitation learning: Learning faster from heterogeneous demonstrations.Advances in Neural Information Processing Systems, 32
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AttenA+: Rectifying Action Inequality in Robotic Foundation Models
AttenA+ reweights action training objectives in VLA and WAM models via inverse velocity attention to prioritize kinematically critical segments, yielding small benchmark gains.