AttenA+ reweights action training objectives in VLA and WAM models via inverse velocity attention to prioritize kinematically critical segments, yielding small benchmark gains.
Robust imitation learning from noisy demonstrations.arXiv preprint arXiv:2010.10181, 2020
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AttenA+: Rectifying Action Inequality in Robotic Foundation Models
AttenA+ reweights action training objectives in VLA and WAM models via inverse velocity attention to prioritize kinematically critical segments, yielding small benchmark gains.