Humans possess a unified cognitive ability to perceive, comprehend, and interact with the physical world. Why can’t large language models replicate this holistic understanding? Through a systematic analysis of existing training paradigms in vision-language-action models (VLA), we identify two key challenges: spurious forgetting, where robot training overwrites crucial visual-text alignments, and task interference, where competing control and understanding tasks degrade performance when trained jointly. To overcome these limitations, we propose ChatVLA, a novel framework featuring Phased Alignment Training, which incrementally integrates multimodal data after initial control mastery, and a Mixture-of-Experts architecture to minimize task interference. ChatVLA demonstrates competitive performance on visual question-answering datasets and significantly surpasses state-of-the-art vision-language-action (VLA) methods on multimodal understanding benchmarks. Notably, it achieves a six times higher performance on MMMU and scores 47.2% on MMStar with a more parameter-efficient design than ECoT. Furthermore, ChatVLA demonstrates superior performance on 25 real-world robot manipulation tasks compared to existing VLA methods like OpenVLA. Our findings highlight the potential of our unified framework for achieving both robust multimodal understanding and effective robot control.

When aligning large language models (LLMs), their performance across various tasks (such as being helpful, harmless, and honest) is heavily influenced by the composition of the training data. However, it is difficult to determine what mixture of data should be used to produce a model with strong performance across all tasks. Existing approaches rely on large ablation studies, heuristics, or human intuition, though these can be prohibitively expensive and suboptimal. We study this problem in the context of preference optimization via DPO and propose a novel and theoretically justified algorithm, AutoMixAlign (AMA), that adaptively mixes datasets during LLM training to balance performance across multiple tasks. AMA first trains specialist models for each task to determine losses that corresponding to strong task performance. Next, AMA trains a generalist model using a novel minimax optimization that prioritizes tasks for which generalist model losses are furthest from specialist model losses. We introduce two algorithms to optimize this problem: (1) AMA-R adaptively reweights the objective to prioritize tasks, and (2) AMA-S adaptively adjusts how much data is sampled from each task to prioritize tasks. Both algorithms achieve a convergence rate of O(1/√T) in the convex case. AMA-R’s convergence result immediately follows from Sagawa et. al, 2019, and we provide a convergence proof for AMA-S using techniques from online learning such as EXP3 (Auer et. al, 2002). We evaluate AMA on several multitask alignment setups, and observe that AMA outperforms the standard alignment approach which simply optimizes the total loss across all tasks and also outperforms model-merging methods.

The ability of large language models (LLMs) to execute complex instructions is essential for their real-world applications. However, several recent studies indicate that LLMs struggle with challenging instructions. In this paper, we propose Evolutionary Contrastive Distillation (ECD), a novel method for generating high-quality synthetic preference data designed to enhance the complex instruction-following capability of language models. ECD generates data that specifically illustrates the difference between a response that successfully follows a set of complex instructions and a response that is high-quality, but nevertheless makes some subtle mistakes. This is done by prompting LLMs to progressively evolve simple instructions to more complex instructions. When the complexity of an instruction is increased, the original successful response to the original instruction becomes a “hard negative” response for the new instruction, mostly meeting requirements of the new instruction, but barely missing one or two. By pairing a good response with such a hard negative response, and employing contrastive learning algorithms such as DPO, we improve language models’ ability to follow complex instructions. Empirically, we observe that our method yields a 7B model that exceeds the complex instruction-following performance of current SOTA 7B models and is competitive even with open-source 70B models.

Multi-task learning (MTL) aims to solve multiple tasks jointly by sharing a base representation among them. This can lead to more efficient learning and better generalization, as compared to learning each task individually. However, one issue that often arises in MTL is the convergence speed between tasks varies due to differences in task difficulty, so it can be a challenge to simultaneously achieve the best performance on all tasks with a single model checkpoint. Various techniques have been proposed to address discrepancies in task convergence rate, including weighting the per-task losses and modifying task gradients. In this work, we propose a novel approach that avoids the problem of requiring all tasks to converge at the same rate, but rather allows for “asynchronous” convergence among the tasks where each task can converge on its own schedule. As our main contribution, we monitor per-task validation metrics and switch to a knowledge distillation loss once a task has converged instead of continuing to train on the true labels. This prevents the model from overfitting on converged tasks while it learns the remaining tasks. We evaluate the proposed method in two 5-task MTL setups consisting of internal e-commerce datasets. The results show that our method consistently outperforms existing loss weighting and gradient balancing approaches, achieving average improvements of 0.9% and 1.5% over the best performing baseline model in the two setups, respectively.