The NEO-VLA framework eliminates fixed visual encoders to enhance the robustness of action strategies
NEO-VLA framework eliminates fixed visual encoders by allowing action strategies to directly access deep visual representations in the network, achieving stronger robustness in various manipulation scenarios and distribution shifts. The framework uses lightweight convolutional layers to tokenize images and allows visual representations to evolve together with language in the backbone network, enabling action experts to obtain information from different depths of instruction-conditioned visual representations. Layer exploration experiments show that action key signals often reach their peak before the final visual representation is formed.






















