Legato trains flow-based VLA policies with schedule-shaped action-noise mixtures and randomized conditions to achieve smoother trajectories and ~10% faster task completion than real-time chunking across five real-world manipulation tasks.
Cot-vla: Visual chain-of-thought reasoning for vision- language-action models.2025 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), pages 1702–1713, 2025
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Learning Native Continuation for Action Chunking Flow Policies
Legato trains flow-based VLA policies with schedule-shaped action-noise mixtures and randomized conditions to achieve smoother trajectories and ~10% faster task completion than real-time chunking across five real-world manipulation tasks.