新規ロボット形態に対するOpenVLA-OFTのRLブートストラッピング
RL Bootstrapping of OpenVLA-OFT for a Novel Robot Embodiment
事前学習済みのVLAポリシーを、デモデータなしでケーブル駆動パラレルロボットに適応させるため、シミュレーション内でPPOとGRPOを用いた強化学習を行い、指示成功率を向上させた。
詳しい要約
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2. 先行研究と比べてどこがすごい？
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著者: Damir Nurtdinov, Alexei Kornaev, Alexander Maloletov
分類: cs.RO
原文アブストラクト
Adapting a pretrained vision-language-action (VLA) policy to a new robot usually assumes embodiment-specific demonstrations. This assumption is especially restrictive for custom robots whose morphology differs strongly from the manipulators seen in large robot datasets. We study a harder setting: zero-demo embodiment alignment of OpenVLA-OFT on a cable-driven parallel robot (CDPR) with a simple gripper and a previously unseen control interface. Instead of supervised fine-tuning, we use reinforcement learning in simulation with dense geometric rewards computed from simulator state. The training is performed in two stages: a PPO stage for directional motion primitives, followed by GRPO continuation from the PPO checkpoint with an expanded instruction space that includes object-conditioned commands. On the four shared directional instructions, the average held-out success rate improves from 34.25\% after PPO to 53.50\% after PPO$\rightarrow$GRPO, with especially large gains on \texttt{move left} and \texttt{move backward}. In the GRPO stage we additionally introduce \texttt{move to <object>} over eight target objects and obtain 39/400 = 9.75\% strict success, while qualitative rollouts frequently show correct target-directed approach behavior before late-stage instability. Compared with prior OpenVLA and OpenVLA-OFT results, which rely on demonstration datasets and mostly standard rigid-arm embodiments, our method uses no embodiment-specific dataset at all. The results do not yet establish robust manipulation, but they provide stronger evidence that RL-only bootstrapping can create the first usable language-conditioned controller for a genuinely novel embodiment.
