LLaRA: Supercharging Robot Learning Data for Vision-Language Policy
Authors: name: Xiang Li; name: Cristina Mata; name: Jongwoo Park; name: Kumara Kahatapitiya; name: Yoo Sung Jang; name: Jinghuan Shang; name: Kanchana Ranasinghe; name: Ryan Burgert; name: Mu Cai; name: Yong Jae Lee; name: Michael S. Ryoo
Published: 2024-06-28 17:59:12

Abstract: Large Language Models (LLMs) equipped with extensive world knowledge and
strong reasoning skills can tackle diverse tasks across domains, often by
posing them as conversation-style instruction-response pairs. In this paper, we
propose LLaRA: Large Language and Robotics Assistant, a framework which
formulates robot action policy as conversations, and provides improved
responses when trained with auxiliary data that complements policy learning.
LLMs with visual inputs, i.e., Vision Language Models (VLMs), have the capacity
to process state information as visual-textual prompts and generate optimal
policy decisions in text. To train such action policy VLMs, we first introduce
an automated pipeline to generate diverse high-quality robotics instruction
data from existing behavior cloning data. A VLM finetuned with the resulting
collection of datasets based on a conversation-style formulation tailored for
robotics tasks, can generate meaningful robot action policy decisions. Our
experiments across multiple simulated and real-world environments demonstrate
the state-of-the-art performance of the proposed LLaRA framework. The code,
datasets, and pretrained models are available at
https://github.com/LostXine/LLaRA.