CLARE：通过自主适配器路由和扩展实现视觉-语言-动作模型的持续学习
CLARE: Continual Learning for Vision-Language-Action Models via Autonomous Adapter Routing and Expansion
AI总结：
CLARE提出一种参数高效、无需示例的持续学习框架，通过自主扩展模型模块，实现机器人在新任务中保持旧知识，优于基于示例的方法。
摘要：
CLARE提出一种参数高效、无需示例的持续学习框架，通过自主扩展模型模块，实现机器人在新任务中保持旧知识，优于基于示例的方法。
英文摘要：
To teach robots complex manipulation tasks, a common approach is to fine-tune a pre-trained vision-language-action model (VLA) on task-specific data. However, since this recipe updates existing representations, it is unsuitable for long-term operation in the real world, where robots must continually adapt to new tasks and environments while retaining the knowledge they have already acquired. Existing continual learning methods for robotics commonly require storing previous data (exemplars), struggle with long task sequences, or rely on task identifiers for deployment. To address these limitations, we propose CLARE, a general, parameter-efficient framework for exemplar-free continual learning with VLAs. CLARE introduces lightweight modular adapters into selected VLA modules and autonomously expands the model only where necessary when learning a new task, guided by layer-wise feature similarity. During deployment, an autoencoder-based routing mechanism dynamically activates the most relevant adapters without requiring task labels. Through extensive experiments on the LIBERO benchmark and five real-world tasks, we show that CLARE achieves high performance on new tasks without catastrophic forgetting of earlier tasks, significantly outperforming even exemplar-based methods. Code, data, and videos are available at our website: https://tum-lsy.github.io/clare.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
