Fine-Tuning VLAs with Self-Demonstrated Generative Control for Multi-Task Manipulation
Research
Source: arXiv cs.ROPublish time unverified
arXiv:2608.19490v1 Announce Type: new Abstract: State-of-the-art vision-language-action (VLA) models such as $\pi_{0.5}$ exhibit strong semantic understanding, instruction following and task behavior. However, when deployed on new robots, even minor mismatches in hardware configuration relative to pretraining can cause severe performance drops.