{"id":"https://openalex.org/W7162535456","doi":"https://doi.org/10.48550/arxiv.2605.26820","title":"Can VLA Models Learn from Real-World Data Continually without Forgetting?","display_name":"Can VLA Models Learn from Real-World Data Continually without Forgetting?","publication_year":2026,"publication_date":"2026-05-26","ids":{"openalex":"https://openalex.org/W7162535456","doi":"https://doi.org/10.48550/arxiv.2605.26820"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.26820","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.26820","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2605.26820","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5133229004","display_name":"Jiarun Zhu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhu, Jiarun","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137176041","display_name":"Yijun Hong","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hong, Yijun","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5127371310","display_name":"Xiaoquan Sun","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sun, Xiaoquan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110259118","display_name":"Zetian Xu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xu, Zetian","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110921988","display_name":"Mingqi Yuan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yuan, Mingqi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137179781","display_name":"Zhiyong Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Zhiyong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137115057","display_name":"Wenjun Zeng","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zeng, Wenjun","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5137180142","display_name":"Jiayu Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Jiayu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":8,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.37070000171661377,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.37070000171661377,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.18729999661445618,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11307","display_name":"Domain Adaptation and Few-Shot Learning","score":0.15729999542236328,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/construct","display_name":"Construct (python library)","score":0.6105999946594238},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.5620999932289124},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.5382000207901001},{"id":"https://openalex.org/keywords/forgetting","display_name":"Forgetting","score":0.5153999924659729},{"id":"https://openalex.org/keywords/foundation","display_name":"Foundation (evidence)","score":0.4174000024795532},{"id":"https://openalex.org/keywords/incremental-learning","display_name":"Incremental learning","score":0.365200012922287}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6894999742507935},{"id":"https://openalex.org/C2780801425","wikidata":"https://www.wikidata.org/wiki/Q5164392","display_name":"Construct (python library)","level":2,"score":0.6105999946594238},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.5620999932289124},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5482000112533569},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.5382000207901001},{"id":"https://openalex.org/C7149132","wikidata":"https://www.wikidata.org/wiki/Q1377840","display_name":"Forgetting","level":2,"score":0.5153999924659729},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.45739999413490295},{"id":"https://openalex.org/C2780966255","wikidata":"https://www.wikidata.org/wiki/Q5474306","display_name":"Foundation (evidence)","level":2,"score":0.4174000024795532},{"id":"https://openalex.org/C2780735816","wikidata":"https://www.wikidata.org/wiki/Q28324931","display_name":"Incremental learning","level":2,"score":0.365200012922287},{"id":"https://openalex.org/C120936955","wikidata":"https://www.wikidata.org/wiki/Q2155640","display_name":"Empirical research","level":2,"score":0.3546000123023987},{"id":"https://openalex.org/C2522767166","wikidata":"https://www.wikidata.org/wiki/Q2374463","display_name":"Data science","level":1,"score":0.34150001406669617},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.2847999930381775},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.25609999895095825},{"id":"https://openalex.org/C77967617","wikidata":"https://www.wikidata.org/wiki/Q4677561","display_name":"Active learning (machine learning)","level":2,"score":0.2522999942302704}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.26820","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.26820","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.26820","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.26820","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Vision-language-action":[0],"(VLA)":[1],"models":[2,40,88],"provide":[3],"a":[4,59],"promising":[5],"foundation":[6],"for":[7,133],"general-purpose":[8],"robotics.":[9],"However,":[10],"their":[11],"successful":[12],"deployment":[13],"in":[14,41],"real-world":[15,60,98,125],"scenarios":[16],"requires":[17],"the":[18,35,120],"ability":[19],"to":[20],"continually":[21,94],"acquire":[22],"new":[23],"skills":[24],"while":[25],"retaining":[26],"previously":[27],"learned":[28],"behaviors.":[29],"While":[30],"pioneering":[31],"research":[32],"has":[33],"studied":[34],"continual":[36,61,126],"learning":[37,62,95,128],"of":[38,124],"VLA":[39,87,127],"narrowly":[42],"simulated":[43],"environments,":[44],"this":[45,55,78,117],"challenge":[46],"remains":[47],"largely":[48],"unexplored":[49],"under":[50],"realistic":[51],"conditions.":[52],"To":[53],"address":[54],"limitation,":[56],"we":[57,80],"construct":[58],"dataset":[63],"comprising":[64],"four":[65],"sequential":[66],"manipulation":[67],"tasks,":[68],"spanning":[69],"rigid-object":[70],"pick-and-place,":[71],"contact-rich":[72],"pressing,":[73],"and":[74,84,106,129],"deformable-object":[75],"folding.":[76],"Using":[77],"dataset,":[79],"conduct":[81],"comprehensive":[82],"experiments":[83],"find":[85],"that":[86,111],"suffer":[89],"significant":[90],"catastrophic":[91],"forgetting":[92],"when":[93],"from":[96],"heterogeneous":[97],"demonstrations.":[99],"We":[100],"then":[101],"systematically":[102],"evaluate":[103],"experience":[104],"replay":[105],"uncover":[107],"key":[108],"implementation":[109],"factors":[110],"govern":[112],"its":[113],"success.":[114],"In":[115],"summary,":[116],"work":[118],"provides":[119],"first":[121],"empirical":[122],"study":[123],"offers":[130],"practical":[131],"guidance":[132],"deploying":[134],"long-lived":[135],"robot":[136],"policies.":[137]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-05-28T00:00:00"}