Jul 2026
On the Efficiency of LoRA Fine-Tuning for Vision-Language-Action Models in Industrial Robotic Manipulation
It is suggested that LoRA at r=32 with full vision encoder fine-tuning is a practical approach, reducing static peak VRAM from 36.2 to 10.8 GiB (parameters and optimizer states, activation memory excluded) without detectable performance loss.
Finn Ferchau, Daniel Pommer, Cristian Axenie
· arXiv.org · 0 citations