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REFACTOR-VLA: Unsupervised Library Learning of Typed Motor Programs

This story is from 2026-09-02. It is preserved in the archive; the latest stories are on the live feed.

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…

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  1. 2026-09-02 00:00 · Apple Machine Learning Research
    REFACTOR-VLA: Unsupervised Library Learning of Typed Motor Programs

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