MINERVA：操作策略多小才能解出 LIBERO？
Original title: MINERVA: How Small Can a Manipulation Policy Be and Still Solve LIBERO?
ResearchAI 85
Source: arXiv cs.ROPublish time unverified
arXiv:2609.03715v1 Announce Type: new Abstract: Vision-language-action (VLA) models with billions of parameters now dominate the LIBERO manipulation benchmark, but the model capacity actually required by the benchmark remains unclear. We introduce MINERVA (MINimal Efficient Robotic Vision-Action policy), a family of deliberately compact visuomotor policies designed to measure this task-specific capacity floor.