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Ankit Goyal

@imankitgoyal • 3,306 subscribers

Incoming Assistant Professor @UMRobotics Senior Research Scientist @NVIDIA Foundation Models for Robots, Dexterous Manipulation ex-@Princeton, ex-@IITKanpur

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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. 🧵⬇️

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Evaluation is a critical bottleneck in building robot foundation models. Check out our latest work RoboLab, led by 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 👇
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Evaluation is a critical bottleneck in building robot foundation models. Check out our latest work RoboLab, led by 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

29,910 views • 3 months ago

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