REFACTOR-VLA: Unsupervised Library Learning of Typed Motor Programs

Most current vision-language-action (VLA) models—such as OpenVLA, π0, RT-2, and RDT-1B—are “monolithic.” This means they generate raw motor commands or very short sequences of actions, without organizing behaviors into reusable, well-defined abstractions. As a result, these models perform poorly on long-horizon (multi-step) tasks, and it’s difficult to interpret what they have learned. Existing approaches for discovering skills often avoid the core problem of deciding when two action sequences a...