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papersSEP 10 04:00 UTC

Time-Frequency Geometric Cross-Attention for Chunked Vision-Language-Action Models

A new arXiv paper proposes a time-frequency geometric cross-attention mechanism for vision-language-action policies that emit chunks of actions in one forward pass. The authors argue that an action chunk is effectively a short multivariate trajectory and design their architecture to model it as such. The work targets robotic control models that generate one to two seconds of coordinated motion per prediction.

arXiv action-chunking chunked-vision-language-action-models robotic-control time-frequency-geometric-cross-attention vision-language-action-models

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arXiv cs.AITime-Frequency Geometric Cross-Attention for Chunked Vision-Language-Action Models ↗SEP 10 04:00 UTC