自己実演生成制御によるVLAのファインチューニング：多タスク操作のための手法
Fine-Tuning VLAs with Self-Demonstrated Generative Control for Multi-Task Manipulation
新しいロボットにVLAモデルを展開する際の性能低下を防ぐため、ゼロショットVLAから生成したオンラインインタラクションロールアウトを追加学習データとして用いる自己教師ありファインチューニング手法を提案。
詳しい要約
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著者: Prachi Garg, Steve Xing, Prahit Yaugand, Saurabh Gupta, Derek Hoiem
分類: cs.RO, cs.CV, cs.LG
原文アブストラクト
State-of-the-art vision-language-action (VLA) models such as $π_{0.5}$ exhibit strong semantic understanding, instruction following and task behavior. However, when deployed on new robots, even minor mismatches in hardware configuration relative to pretraining can cause severe performance drops. Finetuning the VLA on in-domain expert data from the new embodiment improves performance on the expert task but leads to a loss in its original instruction following and behavioral priors. In this paper, we propose a self-supervised method that generates online interaction rollouts from the zero-shot VLA as additional training data for finetuning. Our experiments show this finetuning scheme yields strong multi-task policies that, on the target robot, (1) inherit prior tasks distilled from the zero-shot model, (2) enable generalist instruction following, while (3) learning new skills from expert data with improved sample efficiency. We demonstrate the success of our approach across test sets probing generalization on a real ALOHA robot and a new simulation benchmark in RoboTwin. Video results are available at https://self-supervised-control.pages.dev/