Explicit geometry-based feasibility supervision added to diffusion VLA training leads to better physical reliability, task success, and faster learning with limited data in manipulation tasks.
Implicit safe set algorithm for provably safe reinforcement learning
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Can Explicit Physical Feasibility Benefit VLA Learning? An Empirical Study
Explicit geometry-based feasibility supervision added to diffusion VLA training leads to better physical reliability, task success, and faster learning with limited data in manipulation tasks.