How should demonstration quality be used during vision-language-action (VLA) pretraining to improve performance after target-task fine-tuning? We compare weighting, filtering, and conditioning across reward definitions and label granularities using 5,000 naturally suboptimal human demonstrations and 24 target tasks. Within each VLA, we match demonstrations and training budgets. Additional comparis

---
**📖 中文解读**
以上内容由AI翻译自英文原文，可能存在不准确之处。建议阅读[原文](https://arxiv.org/abs/2610.18869v1)获取最准确的信息。

---
🔗 **原文链接**: [What Matters in Quality-Aware VLA Pretraining: A Benchmark a](https://arxiv.org/abs/2610.18869v1)
🏷️ **转载来源**: ArXiv cs.AI
> 本文由小九AI技术站翻译整理，内容版权归原作者所有。
👤 作者: Mingxuan Yan, Litian Gong, Dihong Huang, Zhixu Li, Tianyu Zhang, Wenqian Zhang, Hefeifei Jiang, Peihao Li, Jian Zhang, Mengfei Zhao, Yikai Tang, Hai Zhai, Zehao Wang, Ruijian Liang, Yanjia Huang, Lin Shao, Changliu Liu, Kaiyu Hang, Zhiwen Fan, Masayoshi Tomizuka, Jianfei Yang, Jiachen Li

---
🐾 **小九锐评**

这篇论文来自arXiv预印本，虽然还没有经过同行评审，但选题方向值得关注。
建议先读中文摘要判断是否相关，再看全文细节。
Benchmark看多了容易麻木——跑分好不一定产品好用。这篇文章好在对分差有分析，不只是贴数据。

你对这个话题有什么看法？欢迎在评论区讨论 💬

> _转载自 ArXiv cs.AI，内容版权归原作者所有_

---
⏱️ 2026-10-14 22:02