What Matters in Quality-Aware VLA Pretraining: A Benchmark and Empirical Study
How should demonstration quality be used during vision-language-action (VLA) pretraining to improve performance after target-task fine-tuning? We compare weighting, filtering, and conditioning across reward definitions and label granularities using 5,000 naturally suboptimal human demonstrations and 24 target tasks. Wi...
Ming-Xuan Yan, Li-Tian Gong, Di Huang et al.
· 0 citations