PALM improves long-horizon robotic manipulation success by distilling affordance representations for object interaction and predicting within-subtask progress in a VLA model.
Coa-vla: Improving vision-language-action models via visual-text chain-of-affordance
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PALM: Progress-Aware Policy Learning via Affordance Reasoning for Long-Horizon Robotic Manipulation
PALM improves long-horizon robotic manipulation success by distilling affordance representations for object interaction and predicting within-subtask progress in a VLA model.