Co-VLA replaces the monolithic action head in VLA models with a coordination-aware Structured Action Expert and Latent-Aware Controller, reporting 27% gains on tight bimanual tasks and doubled OOD performance.
Learning bimanual manipulation via action chunking and inter-arm coordination with transformers,
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Co-VLA: Coordination-Aware Structured Action Modeling for Dual-Arm Vision-Language-Action Systems
Co-VLA replaces the monolithic action head in VLA models with a coordination-aware Structured Action Expert and Latent-Aware Controller, reporting 27% gains on tight bimanual tasks and doubled OOD performance.