SwitchVLA：无需额外数据采集，即可实时动态任务切换的轻量化VLA模型

Core Viewpoint - The article introduces SwitchVLA, a lightweight and data-efficient dynamic task perception and decision-making method designed to address the challenges of task switching in multi-task VLA models, significantly outperforming existing state-of-the-art methods in task switching scenarios [3][18]. Group 1: Introduction - Current mainstream multi-task VLA models struggle with task switching, defined as the ability to switch from one task to another seamlessly during execution [3][5]. - The proposed Execution-Aware mechanism allows for a minimal representation of task switching, utilizing a lightweight network architecture and new training paradigms without the need for additional data collection [3][5]. Group 2: Background - Multi-task VLA models typically rely on Imitation Learning, where tasks are independently collected, leading to challenges in maintaining consistency during task transitions [5]. - The inability of existing methods to handle task switching effectively highlights a significant gap in current VLA capabilities [5]. Group 3: Methodology - SwitchVLA addresses two core issues: representing task switching without additional data collection and training an end-to-end imitation learning model that autonomously makes decisions based on current conditions [6][8]. - The model improves task switching representation by concatenating previous task, current task, and the previous task's stage, enhancing the model's ability to perceive task transitions [8][9]. Group 4: Training Process Improvements - The training process simplifies tasks into three stages: before contact, during contact, and after contact, with specific actions defined for each stage [12]. - The method allows for the training of forward, rollback, and advance actions without the need for additional data collection, demonstrating the model's efficiency [13]. Group 5: Experimental Results - Experiments show that SwitchVLA achieves comparable performance to mainstream methods in single-task scenarios while significantly outperforming them in task switching tasks [16]. - The analysis of task switching failures identified four main types, indicating that the proposed method effectively mitigates these issues [16]. Group 6: Conclusion and Future Work - SwitchVLA is positioned as a significant advancement in dynamic task management, maintaining state-of-the-art performance in single tasks while excelling in task switching [18]. - Future iterations of SwitchVLA will be deployed in TianGong humanoid robots, enhancing capabilities in flexible industrial production and personalized commercial services [19].