Evaluation-Guided Demonstration Refinement for Vision-Language-Action Policies: The Winning Entry in the MetaFine Open Competition
Lifan Zheng, Guotao Chen, Zhenyang Li, Shujie Cui, Qiang Huang, Fan Liu
Abstract
We fine-tuned a separate $π_{0.5}$ policy for each of the five tasks in the MetaFine Open Competition, with a task-specific training mixture and number of actions executed per prediction. Training started from the official demonstrations and expert procedures. Local evaluation exposed recurring grasping, pushing, and insertion failures. We addressed them by revising the demonstrated motions and by adding expert continuations from states the policy reached, while keeping nominal demonstrations in training. Checkpoints were compared on every instruction, so that a gain on one instruction could not hide a loss on another. Our submission, MAI, ranked first overall with a score of 96.66.