自适应 VLA 用于鲁棒机器人部署

Computer Science > Robotics arXiv:2609.30092 (cs) [Submitted on 24 Sep 2026] Title:Self-Adaptive VLA for Robust Robot Deployment Authors:Hongxin Zhang, Chunru Lin, Tsun-Hsuan Wang, Zhenjia Xu, Chuang Gan View a PDF of the paper titled Self-Adaptive VLA for Robust Robot Deployment, by Hongxin Zhang and 4 other authors View PDF HTML (experimental) Abstract:While Vision-Language-Action (VLA) models demonstrate impressive capabilities in robotic manipulation, their memoryless nature renders them brittle to test-time environment shifts, particularly hardware shifts caused by wear or imperfect calibration. Enabling these models to self-adapt during deployment without requiring continuous on-site recalibration remains a critical bottleneck for real-world scalability. In this work, we introduce Self-Adaptive VLA, a novel post-training recipe that enables the policy to iteratively adapt to deployment-time hardware shifts leveraging its own rollouts as context. To do so, we first collect policy rollouts under deliberately injected hardware shifts. We then transform the base policy's training data into shift-conditioned expert demonstrations by pre-compensating the expert actions for these known shifts. Next, we introduce a lightweight, plug-in context encoder that compresses the context, including visual observation, proprioception, and actions in the shifted environment, into a latent context token. This token modulates the policy through adaptive layer normalization (AdaLN). Furthermore, we find that context tokens can be ensembled, allowing the policy to iteratively self-correct and mitigate failures step by step. Extensive experiments across four precision-critical bi-manual and dexterous manipulation tasks show that Self-Adaptive VLA recovers over 80% of the base policy's performance under hardware shifts, such as actuation bias and joint encoder offsets. Moreover, Self-Adaptive VLA enables more robust deployment to new workstations compared to the base policy. Our approach provides a pathway for robust large-scale real-world robot deployments and easier maintenance. See videos at this https URL. Subjects: Robotics (cs.RO); Computer Vision and Pattern Recognition (cs.CV) Cite as: arXiv:2609.30092 [cs.RO] (or arXiv:2609.30092v1 [cs.RO] for this version) https://doi.org/10.48550/arXiv.2609.30092 Focus to learn more arXiv-issued DOI via DataCite (pending registration) Submission history From: Hongxin Zhang [view email] [v1] Thu, 24 Sep 2026 16:37:46 UTC (4,334 KB) Full-text links: Access Paper: View a PDF of the paper titled Self-Adaptive VLA for Robust Robot Deployment, by Hongxin Zhang and 4 other authors View PDF HTML (experimental) TeX Source view license Current browse context: cs.RO new | recent | 2026-09 Change to browse by: cs cs.CV References & Citations NASA ADS Google Scholar Semantic Scholar export BibTeX citation Loading... BibTeX formatted citation × loading... Data provided by: Bookmark Bibliographic Tools Bibliographic and Citation Tools Bibliographic Explorer Toggle Bibliographic Explorer (What is the Explorer?) Connected Papers Toggle Connected Papers (What is Connected Papers?) Litmaps Toggle Litmaps (What is Litmaps?) scite.ai Toggle scite Smart Citations (What are Smart Citations?) Code, Data, Media Code, Data and Media Associated with this Article alphaXiv Toggle alphaXiv (What is alphaXiv?) Links to Code Toggle CatalyzeX Code Finder for Papers (What is CatalyzeX?) DagsHub Toggle DagsHub (What is DagsHub?) GotitPub Toggle Gotit.pub (What is GotitPub?) Huggingface Toggle Hugging Face (What is Huggingface?) ScienceCast Toggle ScienceCast (What is ScienceCast?) Demos Demos Replicate Toggle Replicate (What is Replicate?) Spaces Toggle Hugging Face Spaces (What is Spaces?) Spaces Toggle TXYZ.AI (What is TXYZ.AI?) Related Papers Recommenders and Search Tools Link to Influence Flower Influence Flower (What are Influence Flowers?) Core recommender toggle CORE Recommender (What is CORE?) Author Venue Institution Topic About arXivLabs arXivLabs: experimental projects with community collaborators arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs. Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)