3 papers indexed
Xiaojiang Peng, Kai Peng, Jie Lu, Zheng Lian, Zitong YU, Xiaobo Wang
Vision-Language-Action (VLA) models excel at end-to-end robotic manipulation but struggle with out-of-distribution (OOD) generalization when familiar sub-tasks are recombined in unseen configurations. We identify two mutually reinforcing failure modes: \emph{trajectory overfittin…
Matthijs Ebbens, Jie Lu, Alexander Munteanu
We revisit random projections for reducing the dimension of high-dimensional polygonal curves. Drawing from the toolbox of randomized linear algebra, we give a considerably simplified proof of the known $O(\varepsilon^{-2}\log(nm))$ bound on the target dimension of a random proje…
Kai Peng, Jie Lu, Xiaojiang Peng
Vision-Language-Action models excel at robotic manipulation, driven by the scale and diversity of demonstration data. However, standard training paradigms often cause VLA models to severely overfit to specific behavioral patterns, rendering them unable to generalize to out-of-dis…