MCF-Proto adds a motion-centric local action frame and prototype parameterization to VLA models, inducing emergent geometric structure and improved robustness from standard demonstrations alone.
Learned parametrized dynamic movement primitives with shared synergies for controlling robotic and musculoskeletal systems.Frontiers in computational neuroscience, 7: 138
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Beyond World-Frame Action Heads: Motion-Centric Action Frames for Vision-Language-Action Models
MCF-Proto adds a motion-centric local action frame and prototype parameterization to VLA models, inducing emergent geometric structure and improved robustness from standard demonstrations alone.