Enhancing Linguistic Generalization of VLA: Fine-Tuning OpenVLA via Synthetic Instruction Augmentation

摘要

Generalization remains a core challenge in embodied AI, as robots must adapt to diverse environments. While OpenVLA represents the State-of-the-Art (SOTA) in Vision-Language-Action models by leveraging large-scale pre-training, its zero-shot performance can be limited when encountering completely new environments. This paper proposes a parameter-efficient fine-tuning strategy to enhance the linguistic generalization of OpenVLA by synthesizing a general instruction set for the Bridge Dataset V2. The paper leverages a Large Language Model (LLM) to generate a rich variety of semantically equivalent but structurally diverse commands for existing trajectories. In this experiment, Low-Rank Adaptation (LoRA) is implemented to fine-tune OpenVLA on augmented pairs, allowing the model to bridge the gap between complex natural language intent and robotic actions. Results demonstrate that the LoRA-enhanced model's robustness, suggesting that enriching the linguistic space of specialized datasets is crucial for embodied agents.