Zi-Heng Yan

ActionUNet: Improving Robustness of VLA Models with Efficient Multi-scale Fine-tuning

Vision-Language-Action (VLA) models have shown great promise for robotic manipulation by mapping multi-modal semantics to physical actions. However, this mapping inherently struggles to align these coarse-grained semantics with fine-grained temporal execution. It leaves VLA models with limited generalization and insuff...