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SURE: Spatiotemporal Uncertainty Representation for Efficient Vision-Language-Action Learning

SURE is a data-efficient vision-language-action (VLA) training framework that models spatial uncertainty with a lightweight transposed-convolutional probabilistic action decoder and uses Soft-DTW alignment supervision to accommodate temporal variation across demonstrations. On LIBERO, RoboTwin 2.0, and real manipulation tasks, SURE matches or exceeds baseline VLA manipulation success rates using only 10% of demonstration data or 20% of training steps.

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