What if your robot could move without awkward jerks or hesitation?

Researchers from Shanghai Jiao Tong University and Spirit AI introduce Legato.

It trains vision-language-action models to blend known actions with noise during denoising, making chunk boundaries naturally… pic.twitter.com/MP9OMwszhf

— 机器之心 JIQIZHIXIN (@jiqizhixin) 9 juin 2026

What if your robot could move without awkward jerks or hesitation? Researchers from Shanghai Jiao Tong University and Spirit AI introduce Legato. It trains vision-language-action models to blend known actions with noise during denoising, making chunk boundaries naturally

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