Multi-Step Prediction Enhances Robot Representations
rohanpaul_ai · x · 2026-07-14
This adds details about the Multi-Chunk Prediction training approach:
- Predicting only the next chunk often leads to simply "copying adjacent frames".
- To fix this, 3 lightweight heads are trained to predict the next 1, 2, and 3 chunks, forcing the representation to capture motion over longer time scales.
- These heads are used exclusively during training and removed for inference.
Related event: LingBot-VA 2.0: A Control-Native Foundation Model for Robotics(9 posts)→
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