自己教師ありブートストラップによる行動予測的な身体性推論
Self-Supervised Bootstrapping of Action-Predictive Embodied Reasoning
VLAモデルの身体性Chain-of-Thought推論を、外部報酬や人手注釈なしに自己教師ありで洗練し、操作・歩行ナビ・自動運転で性能を向上させる手法を提案。
詳しい要約
1. どんなもの？
2. 先行研究と比べてどこがすごい？
3. 技術・手法の肝は？
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著者: Milan Ganai, Katie Luo, Jonas Frey, Clark Barrett, Marco Pavone
分類: cs.RO, cs.AI, cs.CV, cs.LG
原文アブストラクト
Embodied Chain-of-Thought (CoT) reasoning has significantly enhanced Vision-Language-Action (VLA) models, yet current methods rely on rigid templates to specify reasoning primitives (e.g., objects in the scene, high-level plans, structural affordances). These templates can force policies to process irrelevant information that distracts from critical action-prediction signals. This creates a bottleneck: without successful policies, we cannot verify reasoning quality; without quality reasoning, we cannot build robust policies. We introduce R&B-EnCoRe, which enables models to bootstrap embodied reasoning from internet-scale knowledge through self-supervised refinement. By treating reasoning as a latent variable within importance-weighted variational inference, models can generate and distill a refined reasoning training dataset of embodiment-specific strategies without external rewards, verifiers, or human annotation. We validate R&B-EnCoRe across manipulation (Franka Panda in simulation, WidowX in hardware), legged navigation (bipedal, wheeled, bicycle, quadruped), and autonomous driving embodiments using various VLA architectures with 1B, 4B, 7B, and 30B parameters. Our approach achieves 28% gains in manipulation success, 101% improvement in navigation scores, and 21% reduction in collision-rate metric over models that indiscriminately reason about all available primitives. R&B-EnCoRe enables models to distill reasoning that is predictive of successful control, bypassing manual annotation engineering while grounding internet-scale knowledge in physical execution.
