VLAMotor: Test-Guided Enhancement of Vision-Language-Action Models via Agent-BasedData Synthesis

Abstract

Vision-Language-Action (VLA) models follow a data-driven paradigm and are constrained by the coverage of training data, making them prone to failure on edge-case configurations after deployment. To mitigate such risks, it is essential to expose high-quality failure modes and convert the resulting failures into supervisory data for model enhancement. Existing studies largely stop at failure detection and lack a mechanism for leveraging discovered failures for model repair. We propose VLAMotor, the first analysis framework for VLA enhancement, which integrates distance-aware model testing for failure exposure and agent-based data synthesis for model finetunning. First, VLAMotor estimates input uncertainty based on the distance to training samples, and combines uncertainty ranking with redundancy elimination to build compact test sets that expose diverse failures. Then, VLAMotor abstracts failure trajectories into structured semantic representations, and plans parameterized repair-skill sequences, which are then realized as executable trajectories through inverse kinematics and motion execution. The resulting successful trajectories are automatically labeled and used to fine-tune the original VLA model, yielding an enhanced VLA model. Evaluation on four representative robotic manipulation tasks shows that 92.33% of the in-simulation test cases generated by VLAMotor trigger VLA failures, and VLAMotor improves test coverage over the state-of-the-art tool by 18.93%. By fine-tuning VLA models with synthetic data derived from failed test cases, VLAMotor further enhances the overall success rate of VLA models by 49.25%. When deployed on real hardware, the simulation-enhanced models improve the success rate over the original VLA models by 57.50%, demonstrating an effective and low-cost direction for VLA enhancement.