arXiv Robotics — research abstracts· Chen Zhao, Zipeng Ye, Haitao Shen, Guanlin Li, Yuchen Xie, Jing Zhang·· 8 hours agoEditorial score66
Flow-Support-Weighted Proposals for Test-Time Verified VLA Policies
Flow-Support-Weighted Proposals for Test-Time Verified VLA Policies
Summary
This research introduces Action Dynamic Sampling (ADS) to address proposal contraction in VLA models during test-time verification. ADS improves proposal diversity during training by integrating additional trajectories and using a Hutchinson trace estimator to score paths, leading to better performance in simulation and real-world manipulation tasks.
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Source：arXiv Robotics — research abstracts · arxiv.org