# Compact Task-Aligned Imitation Learning for Laboratory Automation

arXiv: https://arxiv.org/abs/2603.01110 · HTML: https://mlsanity.com/paper/2603.01110/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Placed in Robot manipulation imitation learning, one of 13 directions in Offline RL and imitation learning from data.
- Builds on 17 of its 42 references that are in the map.
- First posted on arXiv 1 Mar 2026.

## Placed in

- Offline RL and imitation learning from data / [Robot manipulation imitation learning](https://mlsanity.com/offlinerl/robot-manipulation-imitation-learning/)

## Builds on (most cited first, 17 of 17)

- [The Llama 3 Herd of Models](https://mlsanity.com/paper/2407.21783/) (2024)
- [Flow Matching for Generative Modeling](https://mlsanity.com/paper/2210.02747/) (2022)
- [OpenVLA: An Open-Source Vision-Language-Action Model](https://mlsanity.com/paper/2406.09246/) (2024)
- [π0.5: a Vision-Language-Action Model with Open-World Generalization](https://mlsanity.com/paper/2504.16054/) (2025)
- [DINOv3](https://mlsanity.com/paper/2508.10104/) (2025)
- [SigLIP 2: Multilingual Vision-Language Encoders with Improved Semantic Understanding, Localization, and Dense Features](https://mlsanity.com/paper/2502.14786/) (2025)
- [Qwen-Image Technical Report](https://mlsanity.com/paper/2508.02324/) (2025)
- [PaliGemma: A versatile 3B VLM for transfer](https://mlsanity.com/paper/2407.07726/) (2024)
- [SmolLM2: When Smol Goes Big -- Data-Centric Training of a Small Language Model](https://mlsanity.com/paper/2502.02737/) (2025)
- [Cosmos Policy: Fine-Tuning Video Models for Visuomotor Control and Planning](https://mlsanity.com/paper/2601.16163/) (2026)
- [Rectified Flow: A Marginal Preserving Approach to Optimal Transport](https://mlsanity.com/paper/2209.14577/) (2022)
- [SmolVLM: Redefining small and efficient multimodal models](https://mlsanity.com/paper/2504.05299/) (2025)
- [World-VLA-Loop: Closed-Loop Learning of Video World Model and VLA Policy](https://mlsanity.com/paper/2602.06508/) (2026)
- [QVLA: Not All Channels Are Equal in Vision-Language-Action Model's Quantization](https://mlsanity.com/paper/2602.03782/) (2026)
- [A Unified View of Attention and Residual Sinks: Outlier-Driven Rescaling is Essential for Transformer Training](https://mlsanity.com/paper/2601.22966/) (2026)
- [Reasoning About Liquids via Closed-Loop Simulation](https://mlsanity.com/paper/1703.01656/) (2017)
- [Deep Predictive Learning: Motion Learning Concept inspired by Cognitive Robotics](https://mlsanity.com/paper/2306.14714/) (2023)

## Built on by (most cited first, 1 of 1)

- [SAFE-CHEM: Uncertainty-Aware Policy Switching for Robust Robotic Chemistry](https://mlsanity.com/paper/2608.09303/) (2026)

## Abstract (arXiv)

Robotic laboratory automation has traditionally relied on carefully engineered motion pipelines and task-specific hardware interfaces, resulting in high design cost and limited flexibility. While recent imitation learning techniques can generate general robot behaviors, their large model sizes often require high-performance computational resources, limiting applicability in practical laboratory environments. In this study, we propose a compact imitation learning framework for laboratory automation using small foundation models. The proposed method, TVF-DiT, aligns a self-supervised vision foundation model with a vision-language model through a compact adapter, and integrates them with a Diffusion Transformer-based action expert. The entire model consists of fewer than 500M parameters, enabling inference on low-VRAM GPUs. Experiments on three real-world laboratory tasks - test tube cleaning, test tube arrangement, and powder transfer - demonstrate an average success rate of 86.6%, significantly outperforming alternative lightweight baselines. Furthermore, detailed task prompts improve vision-language alignment and task performance. These results indicate that small foundation models, when properly aligned and integrated with diffusion-based policy learning, can effectively support practical laboratory automation with limited computational resources.