Sigma: The Key for Vision-Language-Action Models toward Telepathic Alignment

摘要

To address a fundamental limitation in cognitive systems, namely the absence of a time-updatable mediating thought space between semantics and continuous control, this work constructs and trains a vision-language-action model termed Sigma, deployed on a single RTX 4090. The model is built upon the open-source pi0.5_base backbone, with the svla_so101_pickplace dataset preprocessed into a structured training corpus. An independently designed VLA architecture is introduced to integrate deep semantic understanding with associative reasoning, enabling telepathic-style alignment between perception and action. Training proceeds through iterative optimization of data preprocessing, LoRA-based fine-tuning, and inference-stage adapter design. Evaluation is conducted using offline closed-loop replay, comparing Sigma against the untuned pi0.5_base under identical data conditions. Experimental results indicate a consistent reduction in control MSE across vector-, fragment-, and trajectory-level scales, while preserving the stability of the telepathy norm and semantic-text alignment quality. These findings demonstrate that mind-responsive alignment control can be quantitatively achieved through semantic and associative architectural integration without retraining the base model, providing a reproducible pathway for semantic alignment and intention-driven behavior.