A contrastive alignment model plus offline preference learning explicitly grounds hierarchical VLA language descriptions to actions and visuals on LanguageTable, achieving performance comparable to fully supervised fine-tuning while reducing annotation needs.
Interactive Language: Talking to Robots in Real Time.IEEE Robotics and Automation Letters, pages 1–8, 2023
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Grounding Hierarchical Vision-Language-Action Models Through Explicit Language-Action Alignment
A contrastive alignment model plus offline preference learning explicitly grounds hierarchical VLA language descriptions to actions and visuals on LanguageTable, achieving performance comparable to fully supervised fine-tuning while reducing annotation needs.