Self-Adaptive VLA for Robust Robot Deployment

arXiv:2609.30092 · cs.RO, cs.CV · Submitted 2026-09-24 · Read on arXiv

cs.RO, cs.CV

Submitted: 2026-09-24

Updated: 2026-09-24

Terminology

• Adaptation — 16× in this paper · explained in 1 episode
• Gated Memory Policy — 7× in this paper
• Calibration — 6× in this paper · explained in 7 episodes
• Flow Matching — 6× in this paper · explained in 7 episodes
• Latent Space — 5× in this paper · explained in 7 episodes
• Transformer — 5× in this paper · explained in 2 episodes
• Ablation — 4× in this paper · explained in 1 episode
• Cosine Similarity — 3× in this paper · explained in 3 episodes
• Foundation Model — 3× in this paper · explained in 3 episodes
• Generalization — 3× in this paper · explained in 13 episodes
• Action Space — 2× in this paper · explained in 1 episode
• Alignment — 2× in this paper · explained in 1 episode
• Closed-Loop Control — 2× in this paper · explained in 2 episodes
• Ablation Studies — 1× in this paper · explained in 1 episode
• Ablation study — 1× in this paper · explained in 1 episode
• Actor — 1× in this paper · explained in 3 episodes
• Benchmark — 1× in this paper · explained in 2 episodes
• Computational overhead — 1× in this paper · explained in 2 episodes
• Diffusion Model — 1× in this paper · explained in 8 episodes
• Diffusion Models — 1× in this paper · explained in 6 episodes
• Failure Modes — 1× in this paper · explained in 3 episodes
• Foundation Models — 1× in this paper · explained in 7 episodes
• Generative Modeling — 1× in this paper · explained in 3 episodes
• Latent Representation — 1× in this paper · explained in 2 episodes
• Latent Representations — 1× in this paper · explained in 3 episodes
• Robustness — 1× in this paper · explained in 5 episodes
• Tokenization — 1× in this paper · explained in 2 episodes
• VLA Models — 1× in this paper · explained in 3 episodes
• Vision-Language Model — 1× in this paper
• Vision-Language Model (VLM) — 1× in this paper · explained in 3 episodes
• Vision-Language-Action (VLA) Models — 1× in this paper · explained in 2 episodes
• While Vision-Language-Action — 1× in this paper

Sources

• GR00T N1: An Open Foundation Model for Generalist Humanoid Robots
• RT-1: Robotics Transformer for Real-World Control at Scale
• The Ingredients for Robotic Diffusion Transformers
• Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperation
• Gated Memory Policy: In-Context Memorization and Adaptation
• ContextVLA: Vision-Language-Action Model with Amortized Multi-Frame Context
• RoboTTT: Context Scaling for Robot Policies
• 3D Diffuser Actor: Policy Diffusion with 3D Scene Representations
• OpenVLA: An Open-Source Vision-Language-Action Model
• RMA: Rapid Motor Adaptation for Legged Robots
• MolmoAct: Action Reasoning Models that can Reason in Space
• CogACT: A Foundational Vision-Language-Action Model for Synergizing Cognition and Action in Robotic Manipulation
• Flow Matching for Generative Modeling
• RDT-1B: a Diffusion Foundation Model for Bimanual Manipulation
• THE COLOSSEUM: A Benchmark for Evaluating Generalization for Robotic Manipulation
• Yell At Your Robot: Improving On-the-Fly from Language Corrections
• SmolVLA: A Vision-Language-Action Model for Affordable and Efficient Robotics
• Residual Policy Learning
• DINOv3
• Octo: An Open-Source Generalist Robot Policy

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