Towards Accessible Physical AI: LoRA-Based Fine-Tuning of VLA Models for Real-World Robot Control
Fuente:
arXiv
Saved in:
| Main Authors: | Omaisan, Abdullah Yahya Abdullah, Mohamed, Ibrahim Sheikh |
|---|---|
| Format: | Preprint |
| Published: |
2025
|
| Subjects: | |
| Online Access: | |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
Similar Items
InfraGPT Smart Infrastructure: An End-to-End VLM-Based Framework for Detecting and Managing Urban Defects
by: Mohamed, Ibrahim Sheikh, et al.
Published: (2025)
by: Mohamed, Ibrahim Sheikh, et al.
Published: (2025)
$α$-LoRA: Effective Fine-Tuning via Base Model Rescaling
by: Firdoussi, Aymane El, et al.
Published: (2025)
by: Firdoussi, Aymane El, et al.
Published: (2025)
DR-LoRA: Dynamic Rank LoRA for Fine-Tuning Mixture-of-Experts Models
by: Deng, Guanzhi, et al.
Published: (2026)
by: Deng, Guanzhi, et al.
Published: (2026)
WorldVLA: Towards Autoregressive Action World Model
by: Cen, Jun, et al.
Published: (2025)
by: Cen, Jun, et al.
Published: (2025)
Towards Deploying VLA without Fine-Tuning: Plug-and-Play Inference-Time VLA Policy Steering via Embodied Evolutionary Diffusion
by: Li, Zhuo, et al.
Published: (2025)
by: Li, Zhuo, et al.
Published: (2025)
HydraLoRA: An Asymmetric LoRA Architecture for Efficient Fine-Tuning
by: Tian, Chunlin, et al.
Published: (2024)
by: Tian, Chunlin, et al.
Published: (2024)
Eva-VLA: Evaluating Vision-Language-Action Models' Robustness Under Real-World Physical Variations
by: Liu, Hanqing, et al.
Published: (2025)
by: Liu, Hanqing, et al.
Published: (2025)
Rethinking the Rank Threshold for LoRA Fine-Tuning
by: Park, Juneyoung
Published: (2026)
by: Park, Juneyoung
Published: (2026)
VLA-RAIL: A Real-Time Asynchronous Inference Linker for VLA Models and Robots
by: Zhao, Yongsheng, et al.
Published: (2025)
by: Zhao, Yongsheng, et al.
Published: (2025)
KD-LoRA: A Hybrid Approach to Efficient Fine-Tuning with LoRA and Knowledge Distillation
by: Azimi, Rambod, et al.
Published: (2024)
by: Azimi, Rambod, et al.
Published: (2024)
LoRA-Squeeze: Simple and Effective Post-Tuning and In-Tuning Compression of LoRA Modules
by: Vulić, Ivan, et al.
Published: (2026)
by: Vulić, Ivan, et al.
Published: (2026)
LoRAFusion: Efficient LoRA Fine-Tuning for LLMs
by: Zhu, Zhanda, et al.
Published: (2025)
by: Zhu, Zhanda, et al.
Published: (2025)
LoRA in LoRA: Towards Parameter-Efficient Architecture Expansion for Continual Visual Instruction Tuning
by: Che, Chang, et al.
Published: (2025)
by: Che, Chang, et al.
Published: (2025)
HypeLoRA: Hyper-Network-Generated LoRA Adapters for Calibrated Language Model Fine-Tuning
by: Trojan, Bartosz, et al.
Published: (2026)
by: Trojan, Bartosz, et al.
Published: (2026)
MixLoRA: Enhancing Large Language Models Fine-Tuning with LoRA-based Mixture of Experts
by: Li, Dengchun, et al.
Published: (2024)
by: Li, Dengchun, et al.
Published: (2024)
BORA: Bridging Offline Reinforcement Learning and Online Residual Adaptation for Real-World Dexterous VLA Models
by: Chen, Zhongxi, et al.
Published: (2026)
by: Chen, Zhongxi, et al.
Published: (2026)
Parameter-Efficient Fine-Tuning for HAR: Integrating LoRA and QLoRA into Transformer Models
by: Seregina, Irina, et al.
Published: (2025)
by: Seregina, Irina, et al.
Published: (2025)
Toward Real-World Cooperative and Competitive Soccer with Quadrupedal Robot Teams
by: Su, Zhi, et al.
Published: (2025)
by: Su, Zhi, et al.
Published: (2025)
LiteVLA-Edge: Quantized On-Device Multimodal Control for Embedded Robotics
by: Williams, Justin, et al.
Published: (2026)
by: Williams, Justin, et al.
Published: (2026)
NaRA: Noise-Aware LoRA for Parameter-Efficient Fine-Tuning of Diffusion LLMs
by: Wang, Shuaidi, et al.
Published: (2026)
by: Wang, Shuaidi, et al.
Published: (2026)
VLA-RL: Towards Masterful and General Robotic Manipulation with Scalable Reinforcement Learning
by: Lu, Guanxing, et al.
Published: (2025)
by: Lu, Guanxing, et al.
Published: (2025)
FedTreeLoRA: Reconciling Statistical and Functional Heterogeneity in Federated LoRA Fine-Tuning
by: Bian, Jieming, et al.
Published: (2026)
by: Bian, Jieming, et al.
Published: (2026)
KALIE: Fine-Tuning Vision-Language Models for Open-World Manipulation without Robot Data
by: Tang, Grace, et al.
Published: (2024)
by: Tang, Grace, et al.
Published: (2024)
FinLoRA: Benchmarking LoRA Methods for Fine-Tuning LLMs on Financial Datasets
by: Wang, Dannong, et al.
Published: (2025)
by: Wang, Dannong, et al.
Published: (2025)
MaLoRA: Gated Modality LoRA for Key-Space Alignment in Multimodal LLM Fine-Tuning
by: Zheng, Xinhan, et al.
Published: (2025)
by: Zheng, Xinhan, et al.
Published: (2025)
Kron-LoRA: Hybrid Kronecker-LoRA Adapters for Scalable, Sustainable Fine-tuning
by: Shen, Yixin
Published: (2025)
by: Shen, Yixin
Published: (2025)
Learning Multi-Modal Whole-Body Control for Real-World Humanoid Robots
by: Dugar, Pranay, et al.
Published: (2024)
by: Dugar, Pranay, et al.
Published: (2024)
LoRA-Leak: Membership Inference Attacks Against LoRA Fine-tuned Language Models
by: Ran, Delong, et al.
Published: (2025)
by: Ran, Delong, et al.
Published: (2025)
Cosmos Policy: Fine-Tuning Video Models for Visuomotor Control and Planning
by: Kim, Moo Jin, et al.
Published: (2026)
by: Kim, Moo Jin, et al.
Published: (2026)
Ctrl-World: A Controllable Generative World Model for Robot Manipulation
by: Guo, Yanjiang, et al.
Published: (2025)
by: Guo, Yanjiang, et al.
Published: (2025)
Real-World Robot Control by Deep Active Inference With a Temporally Hierarchical World Model
by: Fujii, Kentaro, et al.
Published: (2025)
by: Fujii, Kentaro, et al.
Published: (2025)
Bayesian-LoRA: LoRA based Parameter Efficient Fine-Tuning using Optimal Quantization levels and Rank Values trough Differentiable Bayesian Gates
by: Meo, Cristian, et al.
Published: (2024)
by: Meo, Cristian, et al.
Published: (2024)
FineVLA: Fine-Grained Instruction Alignment for Steerable Vision-Language-Action Policies
by: Hu, Xintong, et al.
Published: (2026)
by: Hu, Xintong, et al.
Published: (2026)
ReconVLA: An Uncertainty-Guided and Failure-Aware Vision-Language-Action Framework for Robotic Control
by: Chen, Lingling, et al.
Published: (2026)
by: Chen, Lingling, et al.
Published: (2026)
EvoScene-VLA: Evolving Scene Beliefs Inside the Action Decoder for Chunked Robot Control
by: Zhang, Chushan, et al.
Published: (2026)
by: Zhang, Chushan, et al.
Published: (2026)
LoHoVLA: A Unified Vision-Language-Action Model for Long-Horizon Embodied Tasks
by: Yang, Yi, et al.
Published: (2025)
by: Yang, Yi, et al.
Published: (2025)
Convergence Analysis of Aggregation-Broadcast in LoRA-enabled Distributed Fine-Tuning
by: Chen, Xin, et al.
Published: (2025)
by: Chen, Xin, et al.
Published: (2025)
FedMomentum: Preserving LoRA Training Momentum in Federated Fine-Tuning
by: Yan, Peishen, et al.
Published: (2026)
by: Yan, Peishen, et al.
Published: (2026)
Towards Autonomous Reinforcement Learning for Real-World Robotic Manipulation with Large Language Models
by: Turcato, Niccolò, et al.
Published: (2025)
by: Turcato, Niccolò, et al.
Published: (2025)
mLoRA: Fine-Tuning LoRA Adapters via Highly-Efficient Pipeline Parallelism in Multiple GPUs
by: Ye, Zhengmao, et al.
Published: (2023)
by: Ye, Zhengmao, et al.
Published: (2023)
Similar Items
-
InfraGPT Smart Infrastructure: An End-to-End VLM-Based Framework for Detecting and Managing Urban Defects
by: Mohamed, Ibrahim Sheikh, et al.
Published: (2025) -
$α$-LoRA: Effective Fine-Tuning via Base Model Rescaling
by: Firdoussi, Aymane El, et al.
Published: (2025) -
DR-LoRA: Dynamic Rank LoRA for Fine-Tuning Mixture-of-Experts Models
by: Deng, Guanzhi, et al.
Published: (2026) -
WorldVLA: Towards Autoregressive Action World Model
by: Cen, Jun, et al.
Published: (2025) -
Towards Deploying VLA without Fine-Tuning: Plug-and-Play Inference-Time VLA Policy Steering via Embodied Evolutionary Diffusion
by: Li, Zhuo, et al.
Published: (2025)