Gaoyue Zhou

Pretrained ViTs see the world in rich, dense detail. Most policies pool it to a single vector before acting, discarding most of it. We introduce Patch Policy: a minimal architectural extension that enables transformer-based policies to consume dense tokens directly, no billion-param VLM required. It outperforms a fine-tuned 7B VLA by 18% with ~0.7% of its parameters, enabling robust, precise manipulation.