LLaRA: Supercharging Robot Learning Data for Vision-Language Policy

• URL: http://arxiv.org/abs/2406.20095v3
• Date: Thu, 30 Jan 2025 17:34:37 GMT
• Title: LLaRA: Supercharging Robot Learning Data for Vision-Language Policy
• Authors: Xiang Li, Cristina Mata, Jongwoo Park, Kumara Kahatapitiya, Yoo Sung Jang, Jinghuan Shang, Kanchana Ranasinghe, Ryan Burgert, Mu Cai, Yong Jae Lee, Michael S. Ryoo,
• Abstract summary: We introduce LLaRA: Large Language and Robotics Assistant, a framework that formulates robot action policy as visuo-textual conversations.<n>First, we present an automated pipeline to generate conversation-style instruction tuning data for robots from existing behavior cloning datasets.<n>We show that a VLM finetuned with a limited amount of such datasets can produce meaningful action decisions for robotic control.
• Score: 56.505551117094534
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Vision Language Models (VLMs) have recently been leveraged to generate robotic actions, forming Vision-Language-Action (VLA) models. However, directly adapting a pretrained VLM for robotic control remains challenging, particularly when constrained by a limited number of robot demonstrations. In this work, we introduce LLaRA: Large Language and Robotics Assistant, a framework that formulates robot action policy as visuo-textual conversations and enables an efficient transfer of a pretrained VLM into a powerful VLA, motivated by the success of visual instruction tuning in Computer Vision. First, we present an automated pipeline to generate conversation-style instruction tuning data for robots from existing behavior cloning datasets, aligning robotic actions with image pixel coordinates. Further, we enhance this dataset in a self-supervised manner by defining six auxiliary tasks, without requiring any additional action annotations. We show that a VLM finetuned with a limited amount of such datasets can produce meaningful action decisions for robotic control. Through experiments across multiple simulated and real-world tasks, we demonstrate that LLaRA achieves state-of-the-art performance while preserving the generalization capabilities of large language models. The code, datasets, and pretrained models are available at https://github.com/LostXine/LLaRA.

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