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arXiv AI By Shengye Dong, Haochen Niu, Hao Liu, Peiwen Lin, Chuang Wang, Shanmin Pang

Time-Frequency Geometric Cross-Attention for Chunked Vision-Language-Action Models

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The paper introduces Time‑Frequency Geometric Cross‑Attention (TFGCA), a module that enhances vision‑language‑action models by decomposing action chunks into time‑frequency tokens using a learnable wavelet transform. TFGCA fuses dot‑product similarity with wedge‑product magnitude to better capture both frequency‑based smooth trends and cross‑phase orthogonal motion structures. When added to a pretrained VLA model, it yields significant performance gains across in‑distribution and out‑of‑distribution benchmarks, including a 28.5‑point improvement under RoboTwin domain randomization and an 11.67‑point increase on real‑robot AgiBot A2 tasks.

Machine-generated by The Flow from the publisher's headline and feed description — not written or checked by a human. The full article lives at arXiv AI.

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