VLA Model Adaptation

VLA: Vision-Language-Action

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27 papers9 papers in the last four weeks, against 2 the four weeks before. 0.1% of all new papers.

Look Before You Act: Bridging Active Perception and Vision-Language-Action Models via Observation-Aligned Data Adaptation
Oct 16, 2026Jiawei Geng, Zhenyang Liu, Yuzheng Wu +2Active Vision for Robot Manipulation VLA Model Adaptation
Fudan University · Shanghai Innovation Institute
One-shot Human Video-Guided Adaptation for Vision-Language-Action Models
Oct 14, 2026Qi Chen, Yuwei Wu, Quan Chen +5VLA Model Adaptation Vision-Language-Action Models
Beijing Key Laboratory of Intelligent Information Technology, School of Computer Science and Technology, Beijing Institute of Technology. · Guangdong Laboratory of Machine Perception and Intelligent Computing, Shenzhen MSU-BIT University. · AInnovation Technology Group Co., Ltd.
Post-Training, Finetuning, and Steering:A Field Guide for Curating Training Data
Oct 13, 2026Maria Attarian, Yifan Ruan, Claas Voelcker +5VLA Model Adaptation RL Fine-Tuning
University of Toronto · University of Texas at Austin
Verify, Act, Distill: Turning Test-Time Compute into Test-Time Adaptation for Vision-Language-Action Models
Oct 10, 2026Kaneyoshi Hiratsuka, Satoshi Yamamori, Jun MorimotoTest-Time Adaptation of VLA Models VLA Model Adaptation
Kyoto University
Noise Space Learning for VLA Adaptation
Oct 9, 2026Junjie Lu, Chuheng Zhang, Yucen Wang +4VLA Model Adaptation Vision-Language-Action Models
University of Technology Sydney · Microsoft Research · Nanjing University +1
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
Inline Memory Meets Reusable Skills: Memory-centric Framework for Vision-Language-Action Model
Sep 30, 2026Zaijing Li, Rui Shao, Bing Hu +3Memory-Augmented VLMs VLA Model Adaptation
Harbin Institute of Technology (Shenzhen) · Pengcheng Laboratory
Data-Efficient Adaptation of a Driving VLA to Class 8 Trucks
Sep 29, 2026Satyajeet Das, Aaron Buxbaum, Niels Joubert +1VLA Model Adaptation Autonomous Driving
Department of Computer Science, University of Southern California, Los Angeles, CA 90089, USA · Stack AV, Pittsburgh, PA, USA
Alignment-Guided Flow Transformer for Efficient Vision-Language-Action Policy Learning
Sep 28, 2026Shengchao Hu, Peng Wang, Qiyang Zhou +5VLA Model Adaptation Efficient VLA Model Inference
Shanghai Jiao Tong University · Shenzhen Campus of Sun Yat-sen University · Nanyang Technological University
Not All Layers Need Tuning: Diagnosing and Directing Adaptation in Vision-Language-Action Models
Sep 16, 2026Shahram Najam Syed, Arthur Jakobsson, Prayuj Sachdev +1VLA Model Adaptation Low-Rank Adaptation
Robotics Institute, Carnegie Mellon University, Pittsburgh, USA · Department of Electrical and Computer Engineering, Carnegie Mellon University, Pittsburgh, USA
Dense to MoE Adaptation for Compact Vision Language Action Policies
Sep 15, 2026Muchun Niu, Shuang Chen, Yuzhou Wu +5Robot Policy Adaptation Efficient VLA Models
Shanghai Jiao Tong University, Shanghai, China · Tianji KernalMind Co., Ltd.
Your Model Already Knows Don't Teach It, Learn to Ask It: Soft Prompting for Few-Shot Adaptation of Vision-Language Models
Sep 10, 2026Gautam Rajendrakumar Gare, Siyi Li, Hewei Wang +5Few-Shot Object Detection Few-Shot Domain Adaptation
Carnegie Mellon University · Apple
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 · Institute of Technological Sciences, Wuhan University
StellaVLA: In-Context Structured Demonstration for Generalizable Vision-Language-Action Models
Aug 12, 2026Siyu Xu, Yunke Wang, Zijian Wang +6Reasoning for VLA Models Continual Learning for VLA Models
StellarEdge AI Technical Team
In-Context VLA: Endowing Vision-Language-Action Models with Language via In-Context Post-Training and Agentic Tool Use
Aug 6, 2026Jiarui Yang, Wen Huang, Jiale Zhang +2Reasoning for VLA Models ICL for Robotics
Nankai University · Tsinghua University · Swiss Federal Institute of Technology in Lausanne (EPFL)
Generalizable VLA Finetuning via Representation Anchoring and Language-Action Alignment
Jul 15, 2026Dwip Dalal, Shivansh Patel, Chahit Jain +8VLA Model Training Vision-Language-Action Models
University of Illinois Urbana-Champaign · Texas A&M University · University of California, Irvine
CLAP: Direct VLM-to-VLA Adaptation via Language-Action Grounding
Jul 9, 2026Yuri Ishitoya, Jeremy Siburian, Masashi Hamaya +3VLM Adaptation Robotic Manipulation
Ochanomizu University · OMRON SINIC X Corporation · University of Tokyo +1
Domain Arithmetic: One-Shot VLA Adaptation under Environmental Shifts
Jul 1, 2026Taewook Kang, Taeheon Kim, Donghyun Shin +1Domain Adaptation Vision-Language-Action Models
Seoul National University · ECE, IPAI and ASRI in SNU
ROAD-VLA: Robust Online Adaptation via Self-Distillation for Vision-Language-Action Models
Jun 24, 2026Kejing Wang, Toan Nguyen, Minh Hoang Nguyen +2Robustness of VLA Models Robot Policy Adaptation
Applied Artificial Intelligence Initiative Deakin University Geelong, Australia · Air Force Research Laboratory USA
FOCA: Future-Oriented Conditioning for Data-Efficient Vision-Language-Action Adaptation
Jun 18, 2026Duc Minh Nguyen, Nghiem Tuong Diep, Binh Gia Nguyen +20VLM Adaptation Efficient VLA Models
VinRobotics, Vietnam · Center for AI Research, VinUniversity, Vietnam · University of Utah, USA +4
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
StableVLA: Towards Robust Vision-Language-Action Models without Extra Data
May 18, 2026Yiyang Fu, Chubin Zhang, Shukai Gong +7Image Corruption Robustness Vision-Language-Action Models
Peking University · Tsinghua University · Astribot +2
PriorVLA: Prior-Preserving Adaptation for Vision-Language-Action Models
May 11, 2026Xinyu Guo, Bin Xie, Wei Chai +4VLA Model Adaptation Robot Policy Adaptation
Institute of Automation, Chinese Academy of Sciences · Dexmal · Nanjing University of Aeronautics and Astronautics +1
RL Token: Bootstrapping Online RL with Vision-Language-Action Models
Apr 24, 2026Charles Xu, Jost Tobias Springenberg, Michael Equi +4RL Fine-Tuning Vision-Language-Action Models
Physical Intelligence
Simple Recipe Works: Vision-Language-Action Models are Natural Continual Learners with Reinforcement Learning
Mar 12, 2026Jiaheng Hu, Jay Shim, Chen Tang +4Continual Learning for VLA Models VLA Model Adaptation
UT Austin · UCLA · NTU +1
Adaptive Capacity Allocation for Vision Language Action Fine-tuning
Mar 8, 2026Donghoon Kim, Minji Bae, Unghui Nam +4VLA Model Training Nonlinear LoRA
Department of Electrical and Computer Engineering, Seoul National University, Seoul 08826, Republic of Korea · Department of Computer Science and Engineering, Sungkyunkwan University, Suwon 16419, Republic of Korea

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Look Before You Act: Bridging Active Perception and Vision-Language-Action Models via Observation-Aligned Data Adaptation

Jiawei Geng, Zhenyang Liu, Yuzheng Wu, Yongchong Gu+1

Fudan University · Shanghai Innovation Institute

Active Vision for Robot Manipulation VLA Model Adaptation Active Vision Multi-Task Robotic Manipulation

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Robots manipulating objects in clutter must decide not only how to act, but also where to look. Although active camera motion can expose an occluded target, it may move the robot into an initial observation-state distribution that differs from the manipulation policy's training distribution. We identify this problem as first-frame distribution sensitivity: under perturbed starts in LIBERO, naively prepending camera repositioning to pi_0.5 reduces success from 46.3% to 11.5%. We introduce ActiveAlign, a data-adaptation framework that trains a Vision-Language-Action (VLA) policy from the states at which active perception terminates. A learned viewpoint module first generates a camera trajectory. Offline, ActiveAlign uses closed-loop alignment to connect the trajectory endpoint to an existing demonstration, replays the remaining manipulation trajectory, and retains successful continuations for fine-tuning. At deployment, the same viewpoint module precedes the adapted VLA without modifying its architecture. Across 40 LIBERO tasks, ActiveAlign achieves 70.7% success with pi_0 and 72.7% with pi_0.5, outperforming their standard-training baselines by 40.0% and 26.4% respectively. Matched-state and data-matched controls support gains beyond prefix shortening and generic viewpoint augmentation; OpenVLA and GR00T N1 also show the same trend. Success rate under physical occlusion in real world increases from 35/90 to 83/90. These results show that active perception benefits manipulation when policy training is aligned with the observation and robot-state distribution induced by viewpoint selection.