Ankit Goyal's banner
Ankit Goyal's profile picture

Ankit Goyal

@imankitgoyal • 3,464 subscribers

Head of AI @ProceptionAI Incoming Assistant Professor @UMRobotics Foundation Models for Robots, Dexterous Manipulation ex-@NVIDIA, @Princeton, @IITKanpur

Shorts

What's the right architecture for a VLA? VLM + custom action heads (π₀)? VLM with special discrete action tokens (OpenVLA)? Custom design on top of the VLM (OpenVLA-OFT)? Or... VLM with ZERO modifications? Just predict action as text. The results will surprise you. VLA-0: Outperforms π₀, GR00T-N1, MolmoAct, SmolVLA. With ZERO changes to the VLM. 🧵⬇️

What's the right architecture for a VLA? VLM + custom action heads (π₀)? VLM with special discrete action tokens (OpenVLA)? Custom design on top of the VLM (OpenVLA-OFT)? Or... VLM with ZERO modifications? Just predict action as text. The results will surprise you. VLA-0: Outperforms π₀, GR00T-N1, MolmoAct, SmolVLA. With ZERO changes to the VLM. 🧵⬇️

107,426 views

Videos

LIVE
1.2k

Anya Rossi

sweetdream.ai

SweetDream.aiSponsored•Livecam
Streaming Now

Watch Anya Live

Anya is streaming live right now! Join her private show and enjoy exclusive content.

HD live stream
Exclusive private shows
1.2k viewers online

Free preview available • Premium content

Evaluation is a critical bottleneck in building robot foundation models. Check out our latest work RoboLab, led by Jenai Xuning Yang, which addresses this exact challenge. Its a high-fidelity simulation environment for testing these models. A truly generalist policy should be able to complete these tasks zero-shot, and this benchmark highlights exactly how far we still have to go. More info 👇
0:26
imankitgoyal's profile picture

Evaluation is a critical bottleneck in building robot foundation models. Check out our latest work RoboLab, led by Jenai Xuning Yang, which addresses this exact challenge. Its a high-fidelity simulation environment for testing these models. A truly generalist policy should be able to complete these tasks zero-shot, and this benchmark highlights exactly how far we still have to go. More info 👇

Ankit Goyal

30,006 views • 5 months ago

No more content to load