Test-Time Adaptation of VLA Models

VLA: Vision-Language-Action

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WARP-VLA: Wrist-Camera Adaptation for View-Robust Policy Execution in Vision-Language-Action Models
Oct 8, 2026Junmyeong Lee, Dongmin Shin, Min-Gyu Park +3Robustness of VLA Models Vision-Language-Action Models
Yonsei University. · Korea Electronics Technology Institute(KETI).
Juno: Taming Predictive Latents for Vision-Language-Action Models
Oct 7, 2026Yuchen Zhu, Chenyi Xu, Yulin Zhang +2Vision-Language-Action Models World Models for Robotics
University of Science and Technology of China · Eastern Institute of Technology, Ningbo · Hangzhou Dianzi University +1
Adapting Vision-Language-Action Models to Unknown Visual Disruptions During Execution
Oct 6, 2026Ahin Lee, Jinwoo Seo, Youngsoo Jang +1Robot Policy Adaptation Test-Time Adaptation of VLA Models
UNIST, Ulsan, Republic of Korea
VLA-ZO: Fast Zeroth-Order Adaptation for Vision-Language-Action Models
Oct 5, 2026Jaemin Kim, Jiahn Kim, Taesik GongZeroth-Order Optimization Efficient VLA Model Inference
UNIST
When Does Retrieval Help? A Study of In-Context Adaptation in Vision-Language-Action Models
Oct 4, 2026Zixuan Liu, Joris Köster, Zizhan Zheng +1Vision-Language-Action Models Retrieval-Augmented ICL
Department of Computer Science, Tulane University · Department of Computer Science, Aalto University · Department of Industrial Engineering and Management, Aalto University
Triggering Generalist Reasoning via Predictive Uncertainty for Dual-System VLA
Oct 4, 2026Hyemin Yang, Wooseong Jeong, Giwon Lee +1Uncertainty Estimation for VLA Models Efficient VLA Model Inference
KAIST
RoboIRS: Inference-Time Internal Representation Steering for Generalist Robot Policies
Oct 3, 2026Jiuzhou Lei, Chang Liu, Dayou Li +5Robot Policy Generalization Test-Time Adaptation of VLA Models
J. Mike Walker ’66 Department of Mechanical Engineering, Texas A&M University, College Station, TX 77843, USA · Edwardson School of Industrial Engineering, Purdue University, West Lafayette, IN, USA · Zachry Department of Civil and Environmental Engineering, Texas A&M University, College Station, TX 77843, USA +1
Online Evolution Strategy for Flow-Matching VLA Policies via Self-Supervised Trajectory Distribution Optimization
Sep 30, 2026Gongxin Yao, Yongsheng Zhao, Jiayin Deng +4Flow Matching Evolution Strategies
China Mobile (Hangzhou) Information Technology Co., Ltd., Hangzhou, 311121, China
Correcting WHERE, Preserving HOW: Compositional Generalization for Vision-Language-Action Models via Referential Guidance
Sep 29, 2026Yanyan Zhang, Disheng Liu, Xinpeng Li +8Vision-Language-Action Models Test-Time Adaptation of VLA Models
Case Western Reserve University Cleveland, OH, USA
Rho: A Foundation for Efficiently Adaptable VLA Models
Sep 29, 2026Rho Team, Simran Bagaria, Daphne Chen +11Robot Policy Adaptation Bimanual Robotic Manipulation
Microsoft Research
Taming VLAs under Robot Execution Errors: Self-Compensation and Stress Testing
Sep 29, 2026Sohyun Lee, Yoonjae Baek, Jaesang Won +5Robotic Control Robot Manipulation Benchmarks
POSTECH · MBZUAI
T $^2$ Mem: Learning Test-Time Memory for Robotics
Sep 29, 2026Yize Liu, Huang Huang, Yining Hong +4Robot Policy Learning Test-Time Adaptation of VLA Models
Stanford University · NVIDIA · University of Michigan, Ann Arbor
Recursive Harness Distillation across Agents for Robot Manipulation
Sep 27, 2026Seungyeon Kim, Junhoo Lee, Minkyu Kim +2Robotic Manipulation Robot Policy Generalization
Seoul National University · Korea Advanced Institute of Science and Technology
Self-Adaptive VLA for Robust Robot Deployment
Sep 24, 2026Hongxin Zhang, Chunru Lin, Tsun-Hsuan Wang +2Robot Policy Learning Robot Policy Adaptation
University of Massachusetts Amherst · Genesis AI
TraceFlow: Guiding Frozen Flow-Matching Robot Policies with Success and Failure Traces
Sep 17, 2026Jiaxuan Zhang, Ruizhe Liu, Yu Zhang +1Flow Matching Robot Policy Learning
The University of Hong Kong, Hong Kong SAR, China. · Southern University of Science and Technology, Shenzhen, China. · HKU InfoBodied AI Lab
WorldAgen: Unified State-Action Prediction with Test-Time World Model Training
Sep 8, 2026Chi Wan, Kangrui Wang, Yuan Si +2Test-Time Adaptation Action-Conditioned World Models
Northwestern University
ICI-VLA: In-Context Imitation with Spatiotemporally Aligned Demonstrations for Vision-Language-Action Models
Sep 7, 2026Songhua Yang, Ziyu Liu, Xuetao Li +3Imitation Learning Robotic Manipulation
Wuhan University · Wuhan University, Wuhan, China · Institute of Technological Sciences, Wuhan University +1
Training-Free Action Correction for VLA Model Failures via Language Feedback
Aug 30, 2026Owen Kwon, Pablo Ortega-Kral, Arthur Bucker +1Vision-Language-Action Models Test-Time Adaptation of VLA Models
Biomedical Engineering, Carnegie Mellon University, Pittsburgh PA 15213, USA. · Robotics Institute, Carnegie Mellon University, Pittsburgh PA 15213, USA.
RA-VLA: Retrieval-Augmented VLA for Test-Time Adaptation
Aug 26, 2026Sanghwan Jang, Minjin Jeon, Minsoo Kim +3Test-Time Adaptation of VLA Models Vision-Language-Action Models
Department of Computer Science and Engineering, POSTECH, Pohang, South Korea · Graduate School of Artificial Intelligence, POSTECH, Pohang, South Korea
StellaVLA: In-Context Structured Demonstration for Generalizable Vision-Language-Action Models
Aug 12, 2026Siyu Xu, Yunke Wang, Zijian Wang +6Continual Learning for VLA Models Robotic Manipulation
StellarEdge AI Technical Team
DriveVLA-M0: Failure-Aware Memory Augmentation for Autonomous Driving
Aug 11, 2026Zebin Xing, Yupeng Zheng, Qiang Chen +10Memory-Augmented VLMs End-to-End Autonomous Driving
Institute of Automation, Chinese Academy of Sciences · Chongqing Chang’an Technology Co., Ltd.
VANE: Reliable Test-Time Training for Vision-Language-Action Models via Future Visual Representation Prediction
Aug 10, 2026Hongjin Ji, Guoyang Xia, Luoyang Sun +2Robot Policy Adaptation Vision-Language-Action Models
The Chinese University of Hong Kong, Shenzhen · Li Auto Inc. · Beijing University of Posts and Telecommunications +2
RL $^2$ -VLA: Adaptive RL Latent Compositional Steering with Test-Time Scaling for Vision-Language-Action Models
Jul 29, 2026Derek Ming Siang Tan, Shailesh Shailesh, Srikrishna Iyer +4Vision-Language-Action Models Test-Time Adaptation of VLA Models
1National University of Singapore · 3Singapore Technologies Engineering · University of Toronto
A Causality-aware Infer-diagnose-refine Framework for Test-time Modality Adaptation in VLA Models
Jul 28, 2026Haoyu Zhang, Yuwei Wu, Jin Chen +6Robotic Manipulation Vision-Language-Action Models
1Beijing Institute of Technology · 2AInnovation Co. Ltd. · 3Beijing Innovation Center of Humanoid Robotics
Harness VLA: Steering Frozen VLAs into Reliable Manipulation Primitives via Memory-Guided Agents
Jul 9, 2026Yixian Zhang, Huanming Zhang, Feng Gao +14Long-Horizon Robotic Manipulation Language-Conditioned Robot Manipulation
Tsinghua University · Striding AI · Purdue University +4
DREAMSTEER: Latent World Models Can Steer VLA Policies During Deployment Without Any Finetuning
Jul 3, 2026Hanchen Cui, Sergio Arnaud, Arjun Majumdar +5World Model-Based Planning Robotic Manipulation
1Fundamental AI Research (FAIR), Meta · University of Minnesota Twin Cities
Trust Your Instincts: Confidence-Driven Test-Time RL for Vision-Language-Action Models
Jun 29, 2026Siyao Chen, Jiakang Yuan, Jiaxin Wang +1Intrinsic Reward Methods Reinforcement Learning
College of Future Information Technology, Fudan University, Shanghai, China · Shanghai Innovation Institute, Shanghai, China · MoShen Intelligence, Shanghai, China
Retrieve, Don't Retrain: Extending Vision Language Action Models to New Tasks at Test Time
Jun 14, 2026Jeongeun Park, Juhan Park, Taekyung Kim +3Test-Time Adaptation Visuomotor Policy Learning
NAVER AI Lab · Korea University
Elastic Queries Reinforcement Learning: Self-Aware Policy Execution for VLA Models
Jun 12, 2026Ge Wang, Xinyu Tan, Xiang Li +11RL for Robotics Efficient VLM Inference
Ising AI · CUHK-Shenzhen · PKU
TTT-VLA: Test-Time Latent Prompt Optimization for Vision-Language-Action Models
Jun 2, 2026Wenbo Zhang, Jianxiong Li, Shuai Yang +4Test-Time Adaptation Test-Time Adaptation of VLMs
ByteDance Seed · The University of Adelaide · Tsinghua University +3

Oct 8, 2026, cs.ROJ/K move · Enter open · S save

WARP-VLA: Wrist-Camera Adaptation for View-Robust Policy Execution in Vision-Language-Action Models

Junmyeong Lee, Dongmin Shin, Min-Gyu Park, Wooseok Jeon+2

Yonsei University. · Korea Electronics Technology Institute(KETI).

Robustness of VLA Models Vision-Language-Action Models Test-Time Adaptation of VLA Models Robot Manipulation Benchmarks

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Despite recent advances in Vision-Language-Action models (VLAs) for robotic manipulation, their performance remains sensitive to changes in camera configuration. The problem becomes more evident in cross-setup deployment, as reproducing the exact camera pose used for training is nearly impossible. Unlike fixed external views, wrist views are more challenging because the camera moves with the robot, causing even small mounting variations to alter fine-grained geometric cues. To address this, we propose WARP-VLA, a camera-view robust VLA for diverse wrist camera configurations. WARP-VLA adopts a Mixture-of-Experts (MoE) architecture where individual experts learn view-specific feature transformations, and a router combines them based on implicit view information. This allows the policy to be deployed without requiring camera extrinsic parameters as additional input. Through experiments on the LIBERO benchmark, WARP-VLA improves the average success rate of pi-0.5 from 39.2% to 78.3% under wrist-view perturbations. The real-robot experiments further show that the feature-level adaptation learned in simulation successfully transfers to diverse deployment settings. To facilitate reproducibility and future research, we release our wrist viewpoint robustness benchmark and a plug-and-play implementation.

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Latest papers 36