VLA-GSE: Boosting Parameter-Efficient Fine-Tuning in VLA with Generalized and Specialized Experts
For robotic control researchers, this provides a PEFT method that better adapts VLA models to manipulation tasks while preserving pre-trained vision-language capabilities.
VLA-GSE introduces a parameter-efficient fine-tuning framework for vision-language-action models that spectrally decomposes frozen backbone weights into generalized and specialized experts, achieving 81.2% average zero-shot success on LIBERO-Plus with only 2.51% parameter updates, outperforming full fine-tuning and existing PEFT methods.
Vision-language-action (VLA) models inherit rich visual-semantic priors from pre-trained vision-language backbones, but adapting them to robotic control remains challenging. Full fine-tuning (FFT) is prone to overfitting on downstream robotic data and catastrophic forgetting of pretrained vision-language capabilities. Parameter-efficient fine-tuning (PEFT) better preserves pre-trained knowledge, yet existing PEFT methods still struggle to adapt effectively to robot control tasks. To address this gap, we propose VLA-GSE, a parameter-efficient VLA fine-tuning framework that improves control adaptation while retaining PEFT's knowledge preservation advantage. Specifically, VLA-GSE (Generalized and Specialized Experts) is initialized by spectrally decomposing the frozen backbone, assigning leading singular components to generalized experts (shared experts) and disjoint residual components to specialized experts (routed experts). This decomposition improves adaptation capacity under a fixed trainable-parameter budget. Under a comparable parameter budget, VLA-GSE updates only 2.51% of the full model parameters and consistently outperforms strong FFT and PEFT baselines. It achieves 81.2% average zero-shot success on LIBERO-Plus, preserves pre-trained VLM capability comparably to LoRA on multimodal understanding benchmarks, and improves real-world manipulation success under multiple distribution shifts. Code is available at: https://github.com/YuhuaJiang2002/VLA-GSE