Continuous Conditioning of VLAs with Augmenting EMG and Visual Task Descriptors
Vision-Language-Action (VLA) models rely strongly on language for describing task information, despite having multimodal inputs. We hypothesize that other modalities in the state space may present opportunities for supplemental task conditioning, which may be particularly relevant in cluttered or otherwise ambiguous scenes. We introduce two tuned models to test this hypothesis: (1) an electrophysiology-conditioned VLA (EC-VLA) that incorporates 8-channel electromyography envelopes as continuous conditioning input concatenated to the proprioceptive vector, and (2) a visually-annotated VLA (VA-VLA) that incorporates visual segmentation annotations to the image inputs. On a cube-selection ta...
| Authors | Edward W. Staley, Connor O. Pyles, Rahul Hingorani et al. |
|---|---|
| Primary category | cs.CV |
| Published | 1 October 2026 |
| Last updated at source | 1 October 2026 |
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