外观
论文arXiv 2610.1362819 天前
JitterVLA：用于 VLA 驱动人机操控运动质量的回放基准
原文链接：JitterVLA: A Replay Benchmark for Motion Quality in VLA-Driven Human-Robot Manipulation（arXiv 2610.13628 · 发布日期：2026-10-09）
JitterVLA: A Replay Benchmark for Motion Quality in VLA-Driven Human-Robot Manipulation
JitterVLA通过回放相同命令与到达轨迹隔离控制器影响，并在合成、人体轨迹、三种VLA流水线和UR3上验证运动质量。
核心要点
- VLA策略输出稀疏目标且到达延迟不规则，合理动作也可能在近人场景产生突兀运动。
- 该基准将相同命令和到达痕迹送入不同控制器，隔离控制器对运动质量的影响。
- 插值在所有来源降低建模p99 jerk；人体运动200 ms延迟下降83%，代价为2.0 cm跟踪误差。
- UR3上插值使加速度计推得jerk在六组探索对比均降3.0-14.0%；代码和数据将发布。
验证范围与局限：验证包括合成伸手、20人手部轨迹、三条开放VLA流水线的838个片段及一台物理UR3。
英文摘要 (Abstract)
Vision-language-action (VLA) policies issue sparse targets whose arrival at the robot controller is delayed and irregular, so a reasonable predicted action can still produce abrupt motion near people. Remedies are evaluated on different streams, delays and metrics. JitterVLA replays identical commands and arrival traces through alternative controllers, isolating the controller's effect. We apply it to synthetic reaches, hand trajectories from 20 people, three open VLA pipelines (838 episodes) and a physical UR3. Interpolation lowered modeled p99 jerk for every source, by 83% (615 to 106 m/s^3) on human motion with 200 ms delay, at a 2.0 cm tracking cost, and the effect replicated on 598 new episodes; jerk-limited generation lowered jerk further at a larger cost. Entropy-discontinuity associations had opposite, replicated signs in two pipelines, and entropy gating helped in one but not the other. On the UR3, interpolation lowered accelerometer-derived jerk by 3.0-14.0% in all six exploratory pairs, while a position-derived metric did not resolve the contrast. JitterVLA supports screening before human-centred studies; code and data will be released.
作者：Faith Ogunwoye, Didar Seyidov, Konstantin N. Gubernatorov, Dzmitry Tsetserukou
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