https://xuquant.com/tags/ablation-study/Recent content in Ablation-Study on Xu'Bloghttps://xuquant.com/og-default.pnghttps://xuquant.com/og-default.pngHugo -- 0.152.2zhThu, 28 May 2026 20:00:00 +0800https://xuquant.com/posts/foundation-models/vla-geometric-fusion-three-architectures/Thu, 28 May 2026 20:00:00 +0800https://xuquant.com/posts/foundation-models/vla-geometric-fusion-three-architectures/NVIDIA + MIT + UT Austin 团队（arXiv:2605.24642）把 GR00T-N1.5 (manipulation VLA) 跟 VGGT (geometric foundation model) 拼起来，做了 Early Fusion / Late Fusion / Spatial Forcing 三种几何注入架构的 controlled 对照。主结果是一个负结果——standard finetune 下三种几何 VLA 都不显著超过 GR00T baseline。但 ablation 链里的几条判断（don't unfreeze LLM、probe 改进不等于 task 改进、mid-training 比架构选择影响更大、gate 近零起步）跟 production AD VLA 的工程决策直接相关。