OTTER: A Vision-Language-Action Model with Text-Aware Visual Feature Extraction

• URL: http://arxiv.org/abs/2503.03734v3
• Date: Wed, 26 Mar 2025 17:55:06 GMT
• Title: OTTER: A Vision-Language-Action Model with Text-Aware Visual Feature Extraction
• Authors: Huang Huang, Fangchen Liu, Letian Fu, Tingfan Wu, Mustafa Mukadam, Jitendra Malik, Ken Goldberg, Pieter Abbeel,
• Abstract summary: Vision-Language-Action (VLA) models aim to predict robotic actions based on visual observations and language instructions.<n>Existing approaches require fine-tuning pre-trained vision-language models (VLMs) as visual and language features are independently fed into downstream policies.<n>We propose OTTER, a novel VLA architecture that leverages existing alignments through explicit, text-aware visual feature extraction.
• Score: 95.6266030753644
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: Vision-Language-Action (VLA) models aim to predict robotic actions based on visual observations and language instructions. Existing approaches require fine-tuning pre-trained visionlanguage models (VLMs) as visual and language features are independently fed into downstream policies, degrading the pre-trained semantic alignments. We propose OTTER, a novel VLA architecture that leverages these existing alignments through explicit, text-aware visual feature extraction. Instead of processing all visual features, OTTER selectively extracts and passes only task-relevant visual features that are semantically aligned with the language instruction to the policy transformer. This allows OTTER to keep the pre-trained vision-language encoders frozen. Thereby, OTTER preserves and utilizes the rich semantic understanding learned from large-scale pre-training, enabling strong zero-shot generalization capabilities. In simulation and real-world experiments, OTTER significantly outperforms existing VLA models, demonstrating strong zeroshot generalization to novel objects and environments. Video, code, checkpoints, and dataset: https://ottervla.github.io/.

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