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arXiv 提交日期: 2026-07-05
📄 Abstract - VLA Grounder: Language-Conditioning Space Optimization for Black-Box VLA Models

Vision-Language-Action (VLA) models are commonly treated as end-to-end action policies conditioned on natural-language task descriptions. In practice, however, their behavior often depends sharply on how the instruction is phrased, suggesting that language is not merely a task label but an optimizable conditioning input. We study whether frozen VLA policies can be improved by optimizing language space rather than updating action weights. Our method introduces a language-conditioning space policy that translates a human instruction into a short VLA-grounded command using object appearance, spatial relations, and target-grounding cues. The language-conditioning space policy is initialized with a failure-derived command-space prior and optimized with reinforcement learning from sparse task-completion rewards, while the downstream VLA remains fully frozen. This yields language-conditioning space optimization: RL discovers which VLA-grounded commands best elicit successful behavior from the frozen action policy. Experiments on RL4VLA and VL-Think show that language-conditioning space optimization improves success on instruction-sensitive, symbolic, and multi-object manipulation tasks, demonstrating that language can serve as an optimizable variable for a robot foundation models. Website: this https URL

顶级标签: robotics reinforcement learning machine learning
详细标签: vla models language optimization policy optimization task grounding manipulation 或 搜索:

VLA Grounder:针对黑箱VLA模型的语言条件空间优化 / VLA Grounder: Language-Conditioning Space Optimization for Black-Box VLA Models


1️⃣ 一句话总结

该论文提出一种通过强化学习优化自然语言指令来提升冻结的视觉-语言-动作(VLA)模型性能的方法,无需修改模型权重,即可在多种机器人操作任务中显著提高成功率。

源自 arXiv: 2607.04517