VLA Grounder: Language-Conditioning Space Optimization for Black-Box VLA Models
Damir ShodievNikita KachaevAlexey K. KovalevAleksandr I. PanovAleksei Staroverov
Oct 2026
Artificial Intelligence
Abstract
Vision-Language-Action (VLA) models are commonly treated as end-to-end action policies conditioned on natural-language task descriptions. In practice, however, their behavior often depends sharply on how the instruction is phrased, suggesting that language is not merely a task label but an optimizable conditioning input. We study whether frozen VLA policies can be improved by optimizing language space rather than updating action weights. Our method introduces a language-conditioning space policy that translates a human instruction into a short VLA-grounded command using object appearance, spatial relations, and target-grounding cues. The language-conditioning space policy is optimized with reinforcement learning from sparse task-completion rewards, while the downstream VLA remains fully frozen. Experiments on RL4VLA and VL-Think show that language-conditioning space optimization improves success on instruction-sensitive, symbolic, and multi-object manipulation tasks, demonstrating that language can serve as an optimizable variable for robot foundation models.
Website: https://cognitiveaisystems.github.io/VLA-Grounder/
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