A behavior-cloning policy trained only on frozen SigLIP embeddings reaches 74% of language-specified targets in a simple simulator, versus 100% for a state-aware expert, and takes 3.2x more steps.
Getting vit in shape: Scaling laws for compute-optimal model design,
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Can Pretrained Vision-Language Embeddings Alone Guide Robot Navigation?
A behavior-cloning policy trained only on frozen SigLIP embeddings reaches 74% of language-specified targets in a simple simulator, versus 100% for a state-aware expert, and takes 3.2x more steps.