arXiv Robotics — research abstracts· Shuang Luo, Yilun Kong, Yunpeng Qing, Yihang Jiao, Zhi Hou, Shunyu Liu, Xiaogang Wang, Dacheng Tao·· 10 days agoEditorial score48
ACT³: A Tri-Stream Transformer for Action-Centric Robotic Control
Rewiring Semantics, Dynamics, and Control: A Simple yet Effective Action-Centric Tri-Stream Transformer
Summary
ACT³ integrates semantic and dynamics information into control actions. It uses layerwise attention to enable action experts to access VLM and WM representations. Results outperform existing methods in simulated and real-world tasks.
Source: arXiv Robotics — research abstracts · Read original article ↗
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Source：arXiv Robotics — research abstracts · arxiv.org