AT-VLA：面向视觉-语言-动作模型增强反馈反应的自适应触觉注入
AT-VLA: Adaptive Tactile Injection for Enhanced Feedback Reaction in Vision-Language-Action Models
提出自适应触觉注入机制，动态决定触觉信号注入的时机和位置，避免微调时破坏预训练VLA的表征；双流架构将慢速视觉-语言流与快速触觉控制流解耦，实现0.04秒实时闭环，为视觉-语言-动作模型在接触丰富操作中融合触觉反馈提供了可复用方案。
原文依据 we propose Adaptive Tactile Vision-Language-Action (AT-VLA), which introduces a novel Adaptive Tactile Injection mechanism
摘要译文
由模型翻译 · 术语统一 · 请对照原文核对关键结论视觉-语言-动作（VLA）模型已显著推进了能够执行多样任务的机器人智能体；然而，它们在需要精确物理交互的接触丰富操作场景中仍然受限。为解决这一局限，近期研究尝试在下游任务中引入触觉信号，使预训练的VLA能够解读触觉反馈。然而，在微调阶段引入预训练阶段很少出现的新模态，可能会破坏VLA的预训练能力。此外，VLA固有的缓慢推理速度阻碍了实时响应能力，并限制了触觉反馈在动作调整中的有效利用。为克服这些挑战，我们提出了自适应触觉视觉-语言-动作模型（AT-VLA），该模型引入了一种新颖的自适应触觉注入机制。该机制动态确定触觉注入的适当时机和位置，仅在触觉对动作生成有显著贡献时将其纳入，从而最小化对预训练表征的干扰。此外，为实现快速准确的触觉响应，我们提出了一种触觉反应双流机制，将感知处理解耦为用于低频感知推理的慢速视觉-语言流和用于高频物理交互理解的快速触觉控制流，在0.04秒内实现实时闭环响应。真实世界实验充分验证了AT-VLA在接触丰富操作任务中的有效性。
英文原文摘要 1587 字符
Vision-Language-Action (VLA) models have significantly advanced robotic agents capable of executing diverse tasks; however, they remain limited in contact-rich manipulation scenarios that require precise physical interactions. To address this limitation, recent studies have attempted to incorporate tactile signals during downstream tasks, enabling pretrained VLAs to interpret tactile feedback. Nevertheless, introducing new modalities during finetuning, which are rarely present in the pretrain stage, may disrupt the pretrained capabilities of VLAs. In addition, the inherently slow inference speed of VLAs hampers real-time responsiveness and limits the effective utilization of tactile feedback for action adjustment.To overcome these challenges, we propose Adaptive Tactile Vision-Language-Action (AT-VLA), which introduces a novel Adaptive Tactile Injection mechanism. This mechanism dynamically determines the appropriate timing and locations for tactile injection, incorporating only when it significantly contributes to action generation, thereby minimizing interference with pretrained representations.Furthermore, to enable rapid and accurate tactile responses, we propose a Tactile Reaction Dual-Stream mechanism, which decouples sensory processing into a slow visual-language stream for low-frequency perceptual reasoning and a fast tactile control stream for high-frequency physical interaction understanding, achieving real-time close-loop responses within 0.04 s.Real-world experiments thoroughly validate the effectiveness of AT-VLA in contact-rich manipulation tasks.