Vision-Language-Action Models: Experimental Insights from a Real-World UR5 Platform

This project investigates whether recent Vision-Language-Action (VLA) models can be transferred from controlled research benchmarks to a real-world robotic platform, specifically a UR5e manipulator, in a reproducible and operationally meaningful manner. The work integrates real-robot data acquisition, dataset engineering (compatible with the RLDS format), and the fine-tuning and deployment of OpenVLA and OpenVLA-OFT models, with systematic validation of action representations and control interfaces. The project resulted in several foundational assets: (i) a complete real-robot data acquisition pipeline, (ii) a dataset conversion workflow aligned with RLDS standards, (iii) an initial fine-...

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