Related papers: VLA-GSE: Boosting Parameter-Efficient Fine-Tuning …

Mainstream parameter-efficient fine-tuning (PEFT) methods, such as LoRA or Adapter, project a model's hidden states to a lower dimension, allowing pre-trained models to adapt to new data through this low-rank bottleneck. However, PEFT tasks…

Vision-language-action (VLA) models are emerging as embodied foundation models for robotic manipulation, but their deployment introduces a new unlearning challenge: removing unsafe, spurious, or privacy-sensitive behaviors without degrading…

Parameter-efficient fine-tuning (PEFT) of pre-trained language models has recently demonstrated remarkable achievements, effectively matching the performance of full fine-tuning while utilizing significantly fewer trainable parameters, and…

Vision-Language-Action (VLA) models have advanced general-purpose robotic manipulation by leveraging pretrained visual and linguistic representations. However, they struggle with contact-rich tasks that require fine-grained control…

Vision-Language-Action (VLA) models widely adopt pretrained Vision-Language Models (VLMs) as policy backbones, yet it remains unclear what kind of pretrained VLM representation is useful as a VLA initialization. In this paper, we study VLA…

Adapting large language models (LLMs) to downstream tasks via full fine-tuning is increasingly impractical due to its computational and memory demands. Parameter-efficient fine-tuning (PEFT) approaches such as Low-Rank Adaptation (LoRA)…

Vision-Language-Action (VLA) models like OpenVLA demonstrate impressive zero-shot generalization across robotic manipulation tasks but struggle to adapt to specific deployment environments where consistent high performance on a limited set…

Recent advancements in large vision-language models (LVLMs), such as GPT4-V and LLaVA, have been substantial. LLaVA's modular architecture, in particular, offers a blend of simplicity and efficiency. Recent works mainly focus on introducing…

Vision-language-action (VLA) models represent a promising direction for developing general-purpose robotic systems, demonstrating the ability to combine visual understanding, language comprehension, and action generation. However,…

In robotic manipulation, vision-language-action (VLA) models have emerged as a promising paradigm for learning generalizable and scalable robot policies. Most existing VLA frameworks rely on standard supervised objectives, typically…

Parameter-efficient finetuning (PEFT) is a key technique for adapting large language models (LLMs) to downstream tasks. In this paper, we study leveraging knowledge graph embeddings to improve the effectiveness of PEFT. We propose a…

Recent high-capacity vision-language-action (VLA) models have demonstrated impressive performance on a range of robotic manipulation tasks by imitating human demonstrations. However, exploiting offline data with limited visited states will…

Fine-tuning large language models is essential for task-specific adaptation, yet it remains computationally prohibitive. Parameter-Efficient Fine-Tuning (PEFT) methods have emerged as a solution, but current approaches typically ignore the…

We investigate parameter-efficient fine-tuning (PEFT) methods that can provide good accuracy under limited computational and memory budgets in the context of large language models (LLMs). We present a new PEFT method called Robust…

Foundation models (FMs) are pre-trained on large-scale datasets and then fine-tuned for a specific downstream task. The most common fine-tuning method is to update pretrained weights via low-rank adaptation (LoRA). Existing initialization…

Vision-Language Action (VLAs) models promise to extend the remarkable success of vision-language models (VLMs) to robotics. Yet, unlike VLMs in the vision-language domain, VLAs for robotics require finetuning to contend with varying…

Vision-Language-Action (VLA) models show promise in embodied reasoning, yet remain far from true generalists-they often require task-specific fine-tuning, incur high compute costs, and generalize poorly to unseen tasks. We propose MetaVLA,…

Parameter-efficient fine-tuning (PEFT) methods reduce the computational costs of updating deep learning models by minimizing the number of additional parameters used to adapt a model to a down- stream task. While extensively researched in…

Parameter-efficient fine-tuning (PEFT) that was initially developed for exploiting pre-trained large language models has recently emerged as an effective approach to perform transfer learning on computer vision tasks. However, the…

This paper proposes a novel approach to address the challenge that pretrained VLA models often fail to effectively improve performance and reduce adaptation costs during standard supervised finetuning (SFT). Some advanced finetuning methods…