Quick glossary for readers new to VLA/WAM terminology VLA Vision-Language-Action model: a robot policy that starts from a pretrained VLM backbone and adapts it...

Quick glossary for readers new to VLA/WAM terminology VLA Vision-Language-Action model: a robot policy that starts from a pretrained VLM backbone and adapts it to generate actions from visual observations and language instructions. Large-scale VLM pretraining is a core part of the recipe. See Pi-0 and GR00T N1. WAM World-Action Model: a policy that starts from a pretrained world-model or video…

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Higher-order optimization algorithms such as Shampoo have been effectively applied in neural network training for at least a decade. These methods have achieved...

Higher-order optimization algorithms such as Shampoo have been effectively applied in neural network training for at least a decade. These methods have achieved significant success more recently when applied to leading LLMs. In particular, Muon (MomentUm Orthogonalized by Newton-Schulz) was used to train some of today’s best open source models, including Kimi K2 and GLM-5.

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