← 研踪 PaperTrailarXiv:2611.08698 · v1
VICTR: Value-Informed In-Context Learning for Vision-Language-Action Models
首次提交 2026-11-06 04:54
版本更新 2026-11-06 04:54
雷达观测 2026-11-09 10:16
摘要
Recent advances in robot foundation models have highlighted the potential of in-context learning (ICL) for adapting robot behavior from demonstrations without further fine-tuning. Previous work has used retrieval-based post-training to equip pretrained vision-language-action (VLA) models with the capability for ICL by teaching them to condition action predictions on retrieved visually-relevant demonstration chunks. However, the effectiveness of retrieval hinges on selecting context relevant to the current execution stage, which visual similarity alone may not capture. We introduce VICTR, a framework enabling in-context learning in VLAs via progress-informed context retrieval built around an In-Context Value Function Estimator (IC-VFE). IC-VFE conditions on a reference demonstration video, a language instruction and the current observation to estimate task-relative progress. By conditioning progress estimation on a reference demonstration, IC-VFE can align the current state with a demonstrated execution even for tasks unseen during training. VICTR uses the estimated progress to select demonstration chunks at corresponding stages of execution and supplies them to a $π_{0.5}$ policy post-trained for in-context action generation. On unseen out-of-domain real-world manipulation tasks, VICTR raises the success rate from 6.2% for a fine-tuned $π_{0.5}$ baseline to 23.8% and more than doubles the task progress rate, from 28.9% to 55.5%. Project page with code, data and videos: https://ai4ce.github.io/VICTR/
作者备注：11 pages, 8 figures, 4 tables. Project page: https://ai4ce.github.io/VICTR/
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v1 · 2026-11-06 04:54 · 最新观测版本
VICTR: Value-Informed In-Context Learning for Vision-Language-Action Models
Recent advances in robot foundation models have highlighted the potential of in-context learning (ICL) for adapting robot behavior from demonstrations without further fine-tuning. Previous work has used retrieval-based post-training to equip pretrained vision-language-action (VLA) models with the capability for ICL by teaching them to condition action predictions on retrieved visually-relevant demonstration chunks. However, the effectiveness of retrieval hinges on selecting context relevant to the current execution stage, which visual similarity alone may not capture. We introduce VICTR, a framework enabling in-context learning in VLAs via progress-informed context retrieval built around an In-Context Value Function Estimator (IC-VFE). IC-VFE conditions on a reference demonstration video, a language instruction and the current observation to estimate task-relative progress. By conditioning progress estimation on a reference demonstration, IC-VFE can align the current state with a demonstrated execution even for tasks unseen during training. VICTR uses the estimated progress to select demonstration chunks at corresponding stages of execution and supplies them to a $π_{0.5}$ policy post-trained for in-context action generation. On unseen out-of-domain real-world manipulation tasks, VICTR raises the success rate from 6.2% for a fine-tuned $π_{0.5}$ baseline to 23.8% and more than doubles the task progress rate, from 28.9% to 55.5%. Project page with code, data and videos: https://ai4ce.github.io/VICTR/
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