ProgVLA: Progress-Aware Robot Manipulation Skill Learning
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arXiv
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| Autores principales: | , , , |
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| Formato: | Preprint |
| Publicado: |
2026
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| _version_ | 1866911723820154880 |
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| author | Kim, Seungsu Choi, Jinyoung Baek, Seungmin Renders, Jean-Michel |
| author_facet | Kim, Seungsu Choi, Jinyoung Baek, Seungmin Renders, Jean-Michel |
| contents | We present ProgVLA, a compact vision-language-action (VLA) model designed for reliable robot manipulation under tight compute and memory budgets. The model specifically focuses on efficiently processing long multi-modal sequences by maintaining an explicit representation of task progress over extended horizons. To this end, ProgVLA integrates two key components. First, a multi-modal encoder with a two-stage Perceiver resampling scheme compresses variable-length visual, language, and proprioceptive streams into a fixed set of control-ready context tokens, substantially reducing sequence length while preserving cross-modal grounding. Second, an auxiliary set of progress heads is trained with offline reinforcement learning (RL) objectives to jointly learn critics over normalized remaining-horizon targets. This provides the policy with an internal estimate of task progress and enables advantage- and success-weighted flow-matching imitation learning. On two well-established multi-task robot manipulation benchmarks, a 0.1B-parameter ProgVLA model reaches success rates that are competitive with, and on long-horizon and harder task tiers exceed, substantially larger pretrained baselines. Ablations indicate that the learned context resampler and task-adaptive visual fine-tuning are the largest single contributors, while progress-aware training provides a consistent additional gain that is concentrated on long-horizon and multi-object tasks. We further validate the approach in real-world toy-kitchen environments. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2605_28231 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | ProgVLA: Progress-Aware Robot Manipulation Skill Learning Kim, Seungsu Choi, Jinyoung Baek, Seungmin Renders, Jean-Michel Robotics Machine Learning We present ProgVLA, a compact vision-language-action (VLA) model designed for reliable robot manipulation under tight compute and memory budgets. The model specifically focuses on efficiently processing long multi-modal sequences by maintaining an explicit representation of task progress over extended horizons. To this end, ProgVLA integrates two key components. First, a multi-modal encoder with a two-stage Perceiver resampling scheme compresses variable-length visual, language, and proprioceptive streams into a fixed set of control-ready context tokens, substantially reducing sequence length while preserving cross-modal grounding. Second, an auxiliary set of progress heads is trained with offline reinforcement learning (RL) objectives to jointly learn critics over normalized remaining-horizon targets. This provides the policy with an internal estimate of task progress and enables advantage- and success-weighted flow-matching imitation learning. On two well-established multi-task robot manipulation benchmarks, a 0.1B-parameter ProgVLA model reaches success rates that are competitive with, and on long-horizon and harder task tiers exceed, substantially larger pretrained baselines. Ablations indicate that the learned context resampler and task-adaptive visual fine-tuning are the largest single contributors, while progress-aware training provides a consistent additional gain that is concentrated on long-horizon and multi-object tasks. We further validate the approach in real-world toy-kitchen environments. |
| title | ProgVLA: Progress-Aware Robot Manipulation Skill Learning |
| topic | Robotics Machine Learning |
| url | https://arxiv.org/abs/2605.28231 |