InstructVLA: Vision-Language-Action Instruction Tuning from Understanding to Manipulation

• URL: http://arxiv.org/abs/2507.17520v1
• Date: Wed, 23 Jul 2025 13:57:06 GMT
• Title: InstructVLA: Vision-Language-Action Instruction Tuning from Understanding to Manipulation
• Authors: Shuai Yang, Hao Li, Yilun Chen, Bin Wang, Yang Tian, Tai Wang, Hanqing Wang, Feng Zhao, Yiyi Liao, Jiangmiao Pang,
• Abstract summary: InstructVLA is an end-to-end vision-language model that preserves the flexible reasoning of large vision-language models (VLMs) while delivering leading manipulation performance.<n>InstructVLA introduces a novel training paradigm, Vision-Language-Action Instruction Tuning (VLA-IT), which employs multimodal training with mixture-of-experts adaptation.<n>On in-domain SimplerEnv tasks, InstructVLA achieves 30.5% improvement over SpatialVLA.
• Score: 43.83789393525928
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: To operate effectively in the real world, robots must integrate multimodal reasoning with precise action generation. However, existing vision-language-action (VLA) models often sacrifice one for the other, narrow their abilities to task-specific manipulation data, and suffer catastrophic forgetting of pre-trained vision-language capabilities. To bridge this gap, we introduce InstructVLA, an end-to-end VLA model that preserves the flexible reasoning of large vision-language models (VLMs) while delivering leading manipulation performance. InstructVLA introduces a novel training paradigm, Vision-Language-Action Instruction Tuning (VLA-IT), which employs multimodal training with mixture-of-experts adaptation to jointly optimize textual reasoning and action generation on both standard VLM corpora and a curated 650K-sample VLA-IT dataset. On in-domain SimplerEnv tasks, InstructVLA achieves 30.5% improvement over SpatialVLA. To evaluate generalization, we introduce SimplerEnv-Instruct, an 80-task benchmark requiring closed-loop control and high-level instruction understanding, where it outperforms a fine-tuned OpenVLA by 92% and an action expert aided by GPT-4o by 29%. Additionally, InstructVLA surpasses baseline VLMs on multimodal tasks and exhibits inference-time scaling by leveraging textual reasoning to boost manipulation performance in both simulated and real-world settings. These results demonstrate InstructVLA's potential for bridging intuitive and steerable human-robot interaction with efficient policy learning.

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