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Non-Markovian Vision-Language-Action Models

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CodeGraphVLP: Code-as-Planner Meets Semantic-Graph State for Non-Markovian Vision-Language-Action Models

arXiv:2604.22238v2 Announce Type: replace Abstract: Vision-Language-Action (VLA) models promise generalist robot manipulation, but are typically trained and deployed as short-horizon policies that assume the latest observation is sufficient for action reasoning. This assumption breaks in non-Markovian long-horizon tasks, where task-relevant evidence can be occluded or appear only earlier in the trajectory, and where clutter and distractors make fine-grained visual grounding brittle. We...

arXiv CS 1d ago

Notes-to-Self: Scratchpad Augmented VLAs for Memory Dependent Manipulation Tasks

Announce Type: replace Abstract: Many dexterous manipulation tasks are non-markovian in nature, yet little attention has been paid to this fact in the recent upsurge of the vision-language-action (VLA) paradigm. Although they are successful in bringing internet-scale semantic understanding to robotics, existing VLAs are primarily "stateless" and struggle with memory-dependent long horizon tasks. In this work, we explore a way to impart both spatial and temporal memory to a VLA by...

arXiv CS 9d ago