域算术:环境变化下的一次性VLA适配
阅读原文· arxiv.orgVision-Language-Action (VLA) 模型在相机位姿改变或机器人更换(如从Panda换为UR5e)时通常无法完成已学任务。传统适配需为每个任务收集多次演示,成本高昂。DART(Domain ARiThmetic)提出基于类比推理的方法,通过权重向量算术添加特定领域信息,仅需单次演示即可适配目标环境。DART对权重向量中的奇异成分进行子空间对齐以滤除噪声。在模拟和真实实验中,DART在一次性场景下优于现有VLA适配方法。代码已开源。
Vision-Language-Action (VLA) models often fail to perform the same learned tasks under environmental shifts, such as changes in camera pose and shifts to a different but similar robot (e.g., from Panda to UR5e). Adapting these models to the shifted environment (i.e., target domain) often requires training on multiple demonstrations for each task, which are costly to collect. To reduce the burden of data curation and training, we propose an analogy-based method that adapts VLA models under environmental shifts through weight vector arithmetic with domain-specific information addition, named Domain ARiThmetic (DART). Unlike prior approaches, DART requires collecting only a single demonstration, enabling efficient adaptation. To accurately isolate domain-specific information for addition, DART performs subspace alignment between singular components in weight vectors to filter out noisy components. In both simulated and real-world experiments, DART outperforms existing VLA adaptation methods in one-shot scenarios across diverse visual and embodiment shifts. Code is available at https://github.com/snumprlab/dart.