Echo denoises stop and failure signals inside vision-language action policies
Echo learns task status without frame-level progress labels and uses those signals to condition later action denoising.
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- Mentions · 30d2
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- First seenOct 16, 2026
- Last mentioned21d ago
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2 articles · newest firstECHO folds multi-token prediction into the backbone itself
Dynamic Depth Sampling draws training depth with decaying probabilities, at half the overhead of training every depth.
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