Flow Reversal Steering 实现机器人行为引导
Can we translate a rough sense for what to do + VLA prior into successful behavior?
AI 导读
我们能否将粗略的意图与 VLA 先验转化为成功的行为？ Flow reversal steering：1) 反向运行 VLA 的流 ODE，反推出最接近粗略轨迹的噪声；2) 正向运行流，得到最接近的良好行为。
查看原帖Generalist robot policies learn many useful skills, but struggle to select good behaviors for new tasks. To solve this, we introduce Flow Reversal Steering (FRS), a method to refine coarse semantic guidance into precise, in-distribution motions. https://t.co/uCR6KmoDo8 1/N https://t.co/akRrTOhBYt
正文
当前显示原文，中文全文译文尚未就绪。
Can we translate a rough sense for what to do + VLA prior into successful behavior?
Flow reversal steering: 1) runs the VLA's flow ODE backwards to back out noise that's closest to coarse traj 2) runs flow forwards to get closest good behavior