Transferability to Other VLA Backbones

Determine whether waypoint-aligned block-autoregressive planning and normalized goal modulation transfer to vision-language-action backbones other than the $mathit{\pi}_{0.5}$-derived hierarchy, including architectures that do not use fixed-format plan token groups or AdaRMS conditioning.

Background

The study designs and evaluates Block-AR and NGM within a single hierarchical architecture derived from $mathit{\pi}_{0.5}$. Block-AR depends on fixed-format plan token groups, while NGM depends on the AdaRMS conditioning mechanism used by the $mathit{\pi}_{0.5}$ action expert. The applicability of these methods to other VLA backbones therefore remains unresolved and requires evaluation across architectures with different planning interfaces and conditioning mechanisms.