REFACTOR-VLA: Unsupervised Library Learning of Typed Motor Programs
Most current vision-language-action (VLA) models—such as OpenVLA, π0, RT-2, and RDT-1B—are “monolithic.” This means they generate raw motor commands or very short sequences of actions, without organizing behaviors into reusable, well-defined abstractions. As a result, these models perform poorly on long-horizon (multi-step) tasks, and it’s difficult to interpret what they have learned. Existing approaches for...
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Most current vision-language-action (VLA) models—such as OpenVLA, π0, RT-2, and RDT-1B—are “monolithic.” This means they generate raw motor commands or very short sequences of actions, without organizing behaviors into reusable, well-defined abstractions. As a result, these models perform poorly on long-horizon (multi-step) tasks, and it’s difficult to interpret what they have learned. Existing approaches for...
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- Apple Machine Learning ResearchSource primaire · Confirme · EN · 100%REFACTOR-VLA: Unsupervised Library Learning of Typed Motor Programs ↗
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