TANDEM: Task and Motion Planning with As-Needed Demonstrations for Efficient Vision-Language-Action Model Fine-tuning

arXiv:2609.28314 · cs.RO · Submitted 2026-09-23 · Read on arXiv

cs.RO

Submitted: 2026-09-23

Updated: 2026-09-23

Project page: https://prpl-group.com/tandem

Terminology

• Fine-Tuning — 20× in this paper · explained in 5 episodes
• Verification — 6× in this paper · explained in 2 episodes
• Foundation Model — 5× in this paper · explained in 3 episodes
• Foundation Models — 4× in this paper · explained in 7 episodes
• Failure Modes — 3× in this paper · explained in 3 episodes
• Human-in-the-Loop — 3× in this paper · explained in 3 episodes
• Alignment — 2× in this paper · explained in 1 episode
• Grounding — 2× in this paper · explained in 3 episodes
• Task Planning — 2× in this paper · explained in 2 episodes
• Vision-Language-Action (VLA) Models — 2× in this paper · explained in 2 episodes
• World Model — 2× in this paper · explained in 7 episodes
• Abstraction — 1× in this paper · explained in 1 episode
• Action Space — 1× in this paper · explained in 1 episode
• Adaptation — 1× in this paper · explained in 1 episode
• Generalization — 1× in this paper · explained in 13 episodes
• Transformer — 1× in this paper · explained in 2 episodes
• Vision-Language Models (VLMs) — 1× in this paper · explained in 6 episodes
• Visual Grounding — 1× in this paper · explained in 2 episodes

Sources

• $\pi_{0.5}$: a Vision-Language-Action Model with Open-World Generalization
• TiPToP: A Modular Open-Vocabulary Robot Manipulation System That Plans
• DemoGen: Synthetic Demonstration Generation for Data-Efficient Visuomotor Policy Learning
• MolmoB0T: Large-Scale Simulation Enables Zero-Shot Manipulation
• Real2Render2Real: Scaling Robot Data Without Dynamics Simulation or Robot Hardware
• EgoVerse: An Egocentric Human Dataset for Robot Learning from Around the World
• PATO: Policy Assisted TeleOperation for Scalable Robot Data Collection
• Symskill: Symbol and Skill Co-Invention for Data-Efficient and Reactive Long-Horizon Manipulation
• SkillWrapper: Generative Predicate Invention for Task-level Robot Planning
• From Real World to Logic and Back: Learning Generalizable Relational Concepts For Long Horizon Robot Planning

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• Fine-tuning is Not Enough: A Parallel Framework for Collaborative Imitation and Reinforcement Learning in End-to-end Autonomous Driving