نسخة أولية وصول مفتوح
Taming VLAs under Robot Execution Errors: Self-Compensation and Stress Testing
Vision-language-action (VLA) policies often fail when a robot's executed motion deviates from their commanded action. Such execution errors arise from the robot's mechanics and operating conditions, such as wear and payload changes. We propose self-compensating VLA, a deployment-time adaptation method that enables a VL …