# Continually Evolving Skill Knowledge in Vision Language Action Model

arXiv: https://arxiv.org/abs/2511.18085 · HTML: https://mlsanity.com/paper/2511.18085/

## Key facts

- Cited by 14 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 14 of its 49 references that are in the map.
- First posted on arXiv 22 Nov 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, 14 of 14)

- [Auto-Encoding Variational Bayes](https://mlsanity.com/paper/1312.6114/) (2013)
- [Outrageously Large Neural Networks: The Sparsely-Gated Mixture-of-Experts Layer](https://mlsanity.com/paper/1701.06538/) (2017)
- [OpenVLA: An Open-Source Vision-Language-Action Model](https://mlsanity.com/paper/2406.09246/) (2024)
- [π0: A Vision-Language-Action Flow Model for General Robot Control](https://mlsanity.com/paper/2410.24164/) (2024)
- [Unleashing Large-Scale Video Generative Pre-training for Visual Robot Manipulation](https://mlsanity.com/paper/2312.13139/) (2023)
- [On Tiny Episodic Memories in Continual Learning](https://mlsanity.com/paper/1902.10486/) (2019)
- [DreamVLA: A Vision-Language-Action Model Dreamed with Comprehensive World Knowledge](https://mlsanity.com/paper/2507.04447/) (2025)
- [RT-H: Action Hierarchies Using Language](https://mlsanity.com/paper/2403.01823/) (2024)
- [Behavior Generation with Latent Actions](https://mlsanity.com/paper/2403.03181/) (2024)
- [Don't forget, there is more than forgetting: new metrics for Continual Learning](https://mlsanity.com/paper/1810.13166/) (2018)
- [Efficient Planning in a Compact Latent Action Space](https://mlsanity.com/paper/2208.10291/) (2022)
- [TAIL: Task-specific Adapters for Imitation Learning with Large Pretrained Models](https://mlsanity.com/paper/2310.05905/) (2023)
- [VLA-OS: Structuring and Dissecting Planning Representations and Paradigms in Vision-Language-Action Models](https://mlsanity.com/paper/2506.17561/) (2025)
- [Dynamic Mixture of Progressive Parameter-Efficient Expert Library for Lifelong Robot Learning](https://mlsanity.com/paper/2506.05985/) (2025)

## Built on by (most cited first, 14 of 14)

- [Towards Long-Lived Robots: Continual Learning VLA Models via Reinforcement Fine-Tuning](https://mlsanity.com/paper/2602.10503/) (2026)
- [CORAL: Scalable Multi-Task Robot Learning via LoRA Experts](https://mlsanity.com/paper/2603.09298/) (2026)
- [CRL-VLA: Continual Vision-Language-Action Learning](https://mlsanity.com/paper/2602.03445/) (2026)
- [Retrieve-then-Steer: Online Success Memory for Test-Time Adaptation of Generative VLAs](https://mlsanity.com/paper/2605.10094/) (2026)
- [Escaping the Diversity Trap in Robotic Manipulation via Anchor-Centric Adaptation](https://mlsanity.com/paper/2605.07381/) (2026)
- [World Action Models Enable Continual Imitation Learning with Recurrent Generative Replays](https://mlsanity.com/paper/2606.27374/) (2026)
- [Information-Theoretic Constraints for Continual Vision-Language-Action Alignment](https://mlsanity.com/paper/2603.13335/) (2026)
- [PHASER: Phase-Aware and Semantic Experience Replay for Vision-Language-Action Models](https://mlsanity.com/paper/2606.03598/) (2026)
- [InSight: Self-Guided Skill Acquisition via Steerable VLAs](https://mlsanity.com/paper/2606.24884/) (2026)
- [Learning New Tasks via Reusable Skills: Skill-Compositional Experts for Embodied Continual Learning](https://mlsanity.com/paper/2606.15685/) (2026)
- [Fine-Tuning VLAs with Self-Demonstrated Generative Control for Multi-Task Manipulation](https://mlsanity.com/paper/2608.19490/) (2026)
- [OrthoSkillVLA: Continual Skill Learning via Gradient-Informed Skill Subspace Adaptation](https://mlsanity.com/paper/2608.19589/) (2026)
- [SEES: A Self-Evolving Embodied System via Failure-Guided VLA Policy Adaptation](https://mlsanity.com/paper/2609.32698/) (2026)
- [Data-Free Continual Learning for World Action Model with Rectified Generative Replay](https://mlsanity.com/paper/2610.18038/) (2026)

## Abstract (arXiv)

Vision-language-action (VLA) models show promising knowledge accumulation ability from pretraining, yet continual learning in VLA remains challenging, especially for efficient adaptation. Existing continual imitation learning (CIL) methods often rely on additional parameters or external modules, limiting scalability for large VLA models. We propose Stellar VLA, a knowledge-driven CIL framework without increasing network parameters. Two progressively extended variants are designed: T-Stellar for flat task-centric modeling and TS-Stellar for hierarchical task-skill structure. Stellar VLA enables self-evolving knowledge learning by jointly optimizing task representations and a learned knowledge space. We propose a knowledge-guided expert routing mechanism conditioned on knowledge relation and Top-K semantic embeddings, enabling task specialization without increasing model size. Experiments on the LIBERO benchmark show that Stellar VLAs achieve strong performance among both VLA and CIL baselines, using only 1 % data replay. Real-world evaluation on a dual-arm platform with distinct embodiment and scene configurations validates effective knowledge transfer. TS-Stellar excels in hierarchical manipulation, and visualizations reveal robust knowledge retention and task discovery. Project Website: https://stellarvla.github.io/