WayFinder: Hierarchical Visual-Language-Action for Zero-Shot Waypoint Generation and Low-Level Kinematic Control

Visual Language Action (VLA) models offer unprecedented generalization for autonomous robots; however, their real-world deployment is frequently bottlenecked by unreliable execution and the prohibitive computational cost of fine-tuning for specific robot embodiments and tasks. To bridge this gap, we propose WayFinder, an end-to-end, closed-loop hierarchical VLA framework that circumvents the need for fine-tuning by decoupling high-level task reasoning from low-level kinematic control.

Aus dem Abstract. Unsere Zusammenfassung folgt.