AttenA+: Rectifying Action Inequality in Robotic Foundation Models 事件

AttenA+: Rectifying Action Inequality in Robotic Foundation Models arXiv:2605.13548v2 Announce Type: replace-cross Abstract: Existing robotic foundation models, while powerful, are predicated on an implicit assumption of temporal homogeneity: treating all actions as equally informative during optimization. This "flat" training paradigm, inherited from language modeling, remains indifferent to the underlying physical hierarchy of manipulation. In reality, robot trajectories are fundamentally het