# Few-Shot Vision-Language Action-Incremental Policy Learning

arXiv: https://arxiv.org/abs/2504.15517 · HTML: https://mlsanity.com/paper/2504.15517/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- Placed in Reinforcement learning and post-training, one of 13 directions in Vision-language-action models.
- Builds on 67 of its 76 references that are in the map.
- First posted on arXiv 22 Apr 2025.

## Placed in

- Vision-language-action models / [Reinforcement learning and post-training](https://mlsanity.com/vla/reinforcement-learning-and-post-training/)

## Builds on (most cited first, 30 of 67)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [LoRA: Low-Rank Adaptation of Large Language Models](https://mlsanity.com/paper/2106.09685/) (2021)
- [Segment Anything](https://mlsanity.com/paper/2304.02643/) (2023)
- [Overcoming catastrophic forgetting in neural networks](https://mlsanity.com/paper/1612.00796/) (2016)
- [OpenVLA: An Open-Source Vision-Language-Action Model](https://mlsanity.com/paper/2406.09246/) (2024)
- [iCaRL: Incremental Classifier and Representation Learning](https://mlsanity.com/paper/1611.07725/) (2016)
- [PaLM-E: An Embodied Multimodal Language Model](https://mlsanity.com/paper/2303.03378/) (2023)
- [Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware](https://mlsanity.com/paper/2304.13705/) (2023)
- [Octo: An Open-Source Generalist Robot Policy](https://mlsanity.com/paper/2405.12213/) (2024)
- [Conditional Prompt Learning for Vision-Language Models](https://mlsanity.com/paper/2203.05557/) (2022)
- [LIBERO: Benchmarking Knowledge Transfer for Lifelong Robot Learning](https://mlsanity.com/paper/2306.03310/) (2023)
- [Memory Aware Synapses: Learning what (not) to forget](https://mlsanity.com/paper/1711.09601/) (2017)
- [VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language Models](https://mlsanity.com/paper/2307.05973/) (2023)
- [R3M: A Universal Visual Representation for Robot Manipulation](https://mlsanity.com/paper/2203.12601/) (2022)
- [RLBench: The Robot Learning Benchmark & Learning Environment](https://mlsanity.com/paper/1909.12271/) (2019)
- [DualPrompt: Complementary Prompting for Rehearsal-free Continual Learning](https://mlsanity.com/paper/2204.04799/) (2022)
- [Perceiver-Actor: A Multi-Task Transformer for Robotic Manipulation](https://mlsanity.com/paper/2209.05451/) (2022)
- [CODA-Prompt: COntinual Decomposed Attention-based Prompting for Rehearsal-Free Continual Learning](https://mlsanity.com/paper/2211.13218/) (2022)
- [VIMA: General Robot Manipulation with Multimodal Prompts](https://mlsanity.com/paper/2210.03094/) (2022)
- [Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperation](https://mlsanity.com/paper/2401.02117/) (2024)
- [Tip-Adapter: Training-free Adaption of CLIP for Few-shot Classification](https://mlsanity.com/paper/2207.09519/) (2022)
- [DER: Dynamically Expandable Representation for Class Incremental Learning](https://mlsanity.com/paper/2103.16788/) (2021)
- [Vision-Language Foundation Models as Effective Robot Imitators](https://mlsanity.com/paper/2311.01378/) (2023)
- [WinCLIP: Zero-/Few-Shot Anomaly Classification and Segmentation](https://mlsanity.com/paper/2303.14814/) (2023)
- [Few-Shot Class-Incremental Learning](https://mlsanity.com/paper/2004.10956/) (2020)
- [S-Prompts Learning with Pre-trained Transformers: An Occam's Razor for Domain Incremental Learning](https://mlsanity.com/paper/2207.12819/) (2022)
- [One-Shot Imitation Learning](https://mlsanity.com/paper/1703.07326/) (2017)
- [FOSTER: Feature Boosting and Compression for Class-Incremental Learning](https://mlsanity.com/paper/2204.04662/) (2022)
- [One-Shot Visual Imitation Learning via Meta-Learning](https://mlsanity.com/paper/1709.04905/) (2017)
- [RVT: Robotic View Transformer for 3D Object Manipulation](https://mlsanity.com/paper/2306.14896/) (2023)

## Built on by (most cited first, 3 of 3)

- [Mechanistic Finetuning of Vision-Language-Action Models via Few-Shot Demonstrations](https://mlsanity.com/paper/2511.22697/) (2025)
- [Towards Long-Lived Robots: Continual Learning VLA Models via Reinforcement Fine-Tuning](https://mlsanity.com/paper/2602.10503/) (2026)
- [Learning New Tasks via Reusable Skills: Skill-Compositional Experts for Embodied Continual Learning](https://mlsanity.com/paper/2606.15685/) (2026)

## Abstract (arXiv)

Recently, Transformer-based robotic manipulation methods utilize multi-view spatial representations and language instructions to learn robot motion trajectories by leveraging numerous robot demonstrations. However, the collection of robot data is extremely challenging, and existing methods lack the capability for continuous learning on new tasks with only a few demonstrations. In this paper, we formulate these challenges as the Few-Shot Action-Incremental Learning (FSAIL) task, and accordingly design a Task-prOmpt graPh evolutIon poliCy (TOPIC) to address these issues. Specifically, to address the data scarcity issue in robotic imitation learning, TOPIC learns Task-Specific Prompts (TSP) through the deep interaction of multi-modal information within few-shot demonstrations, thereby effectively extracting the task-specific discriminative information. On the other hand, to enhance the capability for continual learning on new tasks and mitigate the issue of catastrophic forgetting, TOPIC adopts a Continuous Evolution Strategy (CES). CES leverages the intrinsic relationships between tasks to construct a task relation graph, which effectively facilitates the adaptation of new tasks by reusing skills learned from previous tasks. TOPIC pioneers few-shot continual learning in the robotic manipulation task, and extensive experimental results demonstrate that TOPIC outperforms state-of-the-art baselines by over 26% in success rate, significantly enhancing the continual learning capabilities of existing Transformer-based policies.