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FAN: Foresight Action Normalization for Continual Adaptation of Vision-Language-Action Models

arXiv · AI, language, vision and robotics · article · Sep 18, 2026 · UTC

Vision-Language-Action (VLA) models pre-trained on large-scale, closed datasets have demonstrated remarkable success across diverse robotic manipulation tasks. However, their long-term real-world deployment necessitates continuously acquiring new skills while retaining previously learned capabilities. While pioneering works have explored continual VLA adaptation using techniques such as experience replay and reinforcement fine-tuning, they overlook a foundational mechanism: action normalization, which determines the underlying coordinate system in which policies perceive and execute physical a

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