解析的概念による明示的運動学的ガイダンスを用いた視覚言語行動モデル
Explicit Kinematic Guidance from Analytic Concepts for Vision-Language-Action Models
VLAモデルに3D構造情報を組み込むため、物体を明示的なプログラム的設計図として表現する解析的概念を構築し、密な報酬と空間的ガイダンスで微調整を支援する手法を提案した。
詳しい要約
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著者: Mingyang Sun, Jiude Wei, Xiujian Liang, Qichen He, Donglin Wang, Cewu Lu, Jianhua Sun
分類: cs.RO
原文アブストラクト
Current Vision-Language-Action (VLA) models rely mainly on 2D inputs, neglecting the rich object structural information and commonsense knowledge inherent in the 3D physical world. This deficiency restricts their spatial awareness and adaptability for complex, high-precision manipulation. To bridge this crucial gap, we construct a Concept Expert module for VLA to build executable Analytic Concepts that represent objects as explicit, programmatic blueprints. Our mechanism operates in two synergistic phases: First, prior to VLA inference, the Concept Expert leverages 3D information from Vision Foundation Models (VFMs) to estimate the initial kinematic and structural parameters. Second, throughout the manipulation process, the VLA model utilizes its inherent capability to dynamically track the dynamic concept parameters, continuously aligning them with observational changes to ensure persistent accuracy. Once established, the Analytic Concepts provide explicit, high-quality guidance for VLA fine-tuning through (1) dense, programmatic manipulation rewards and (2) precise spatial guidance. This formulation allows VLA models to learn physically grounded interaction behaviors while maintaining end-to-end learning flexibility. Our experimental results show consistent improvements in success rate and learning efficiency across supervised and reinforcement learning settings, demonstrating the effectiveness of structured, concept-based guidance for VLA post-training.
