LabVLA:面向科学实验室的视觉-语言-动作模型
阅读原文· arxiv.org科学实验室的机器人操作需要VLA模型,但现有模型多训练于家居场景,缺少实验室专用数据和多形态机器人支持。研究者构建仿真数据引擎RoboGenesis,从原子技能组合生成结构化演示;并提出LabVLA模型,采用两阶段训练:先用FAST动作token预训练使Qwen3-VL-4B-Instruct骨干具备动作感知能力,再通过流匹配后训练附加知识隔离的DiT动作专家。在LabUtopia基准上,LabVLA在分布内和分布外设置下均取得所有基线中最高的平均成功率。
Scientific laboratories increasingly rely on AI systems to reason about experiments, but the physical act of doing science remains largely outside their reach. AI can help read literature, generate hypotheses, and plan protocols, yet the execution of those protocols at the bench still requires a human operator. Vision-Language-Action (VLA) models provide one possible interface between written protocols and robot execution, but existing policies are trained mostly on household and tabletop demonstrations and rarely encounter the instruments, transparent liquids, or fixed protocol workflows found in scientific laboratories. Closing this gap requires both laboratory-specific supervision and a unified learning framework that can accommodate the diverse robot embodiments used to execute experimental protocols. We therefore identify data and embodiment as central bottlenecks alongside model design. To address the data side, we build RoboGenesis, a simulation-based workflow and data engine that composes configured laboratory workflows from atomic skills, validates and filters rollouts, and exports structured demonstrations across supported robot profiles. On the policy side, we present LabVLA, trained with a two-stage recipe: FAST action token pretraining first makes the Qwen3-VL-4B-Instruct backbone action aware before any continuous control is learned, and flow matching posttraining then attaches a DiT action expert under knowledge insulation. On the LabUtopia benchmark, LabVLA achieves the highest average success rate among all evaluated baselines under both in-distribution and out-of-distribution settings.