Equilibrium Matching decoder substitution in π₀ improves RoboTwin success from 40.4% to 50.2% across 19 tasks and reaches 87.0% on LIBERO-10.
Implicit generation and modeling with energy based models
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$\pi_0$-EqM: Equilibrium Matching for Closed-Loop Vision-Language-Action Control
Equilibrium Matching decoder substitution in π₀ improves RoboTwin success from 40.4% to 50.2% across 19 tasks and reaches 87.0% on LIBERO-10.