Agile-VLA: 暗黙的アフォーダンスアンカリングによる少数ショット産業用姿勢補正
Agile-VLA: Few-Shot Industrial Pose Rectification via Implicit Affordance Anchoring
エッジデバイス上でVLAモデルを動かす際の高遅延と高周波制御の矛盾を解決するため、幾何学的視覚手がかりをパラメトリック動作プリミティブに直接マッピングする階層的フレームワークを提案し、5ショットのデモで複雑なワークの姿勢補正を実現した。
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著者: Teng Yan, Zhengyang Pei, Chengyu Shi, Yue Yu, Yikun Chen, Zilong Zhu, Zelin Fang, Kaile Guo, Zihang Wang, Peigen Tian, Bingzhuo Zhong
分類: cs.RO
原文アブストラクト
Deploying Vision-Language-Action (VLA) models on resource-constrained edge platforms encounters a fundamental conflict between high-latency semantic inference and the high-frequency control required for dynamic manipulation. To address the challenge, this paper presents Agile-VLA, a hierarchical framework designed for industrial pose reorientation tasks on edge devices such as the NVIDIA Jetson Orin Nano. The core innovation is an Implicit Affordance Anchoring mechanism that directly maps geometric visual cues, specifically centroid and rim keypoint anchors, into structured parametric action primitives, thereby substantially reducing reliance on high-latency semantic inference during closed-loop control. By decoupling perception (10 Hz) from control (50 Hz) via an asynchronous dual-stream architecture, the system effectively mitigates the frequency mismatch inherent in edge-based robot learning. Experimental results on a standard 6-DoF manipulator demonstrate that Agile-VLA achieves robust rectification of complex, irregular workpieces using only 5-shot demonstrations through extrinsic dexterity.
