REFACTOR-VLA: Unsupervised Library Learning of Typed Motor Programs
Most current vision-language-action (VLA) models—such as OpenVLA, π0, RT-2, and RDT-1B—are “monolithic.” This means they generate raw motor commands or very short sequences of actions, without organizing behaviors into reusable, well-defined abstractions. As a result, these models perform poorly on long-horizon (multi-step) tasks, and it’s difficult to interpret what they have learned. Existing approaches for discovering skills often avoid the core problem of deciding when two action sequences are “behaviorally equivalent.” For example, AtomicVLA and AtomSkill group action sequences by…
Introducing Robotic Transformer 2 (RT-2), a novel vision-language-action (VLA) model that learns from both web and robotics data, and translates this knowledge into generalised instructions for robotic control, while retaining web-scale capabilities. This work builds upon Robotic Transformer 1 (RT-1), a model trained on multi-task demonstrations which can learn combinations…
We present a Positional Description Scheme (PDS) tailored for digit sequences, integrating placeholder value information for each digit. Given the structural limitations of subword tokenization algorithms, language models encounter critical Text Normalization (TN) challenges when handling numerical tasks. Our schema addresses this challenge through straightforward pre-processing, preserving the model architecture…