Related papers: VLA Model Post-Training via Action-Chunked PPO and…

While vision-language models have advanced significantly, their application in language-conditioned robotic manipulation is still underexplored, especially for contact-rich tasks that extend beyond visually dominant pick-and-place…

Vision-Language-Action (VLA) models have recently emerged as a promising paradigm for robotic manipulation, in which reliable action prediction critically depends on accurately interpreting and integrating visual observations conditioned on…

Offline reinforcement learning (RL), which optimizes policies using a previously collected static dataset, is an important branch of RL. A popular and promising approach is to regularize actor-critic methods with behavior cloning (BC),…

The inherent complexity of living cells as production units creates major challenges for maintaining stable and optimal bioprocess conditions, especially in open Photobioreactors (PBRs) exposed to fluctuating environments. To address this,…

Reinforcement learning (RL) actor-critic algorithms enable autonomous learning but often require a large number of environment interactions, which limits their applicability in robotics. Leveraging expert data can reduce the number of…

Learning from demonstration is widely used as an efficient way for robots to acquire new skills. However, it typically requires that demonstrations provide full access to the state and action sequences. In contrast, learning from…

Fine-tuning vision-language models (VLMs) on robot teleoperation data to create vision-language-action (VLA) models is a promising paradigm for training generalist policies, but it suffers from a fundamental tradeoff: learning to produce…

Residual policy learning (RPL), in which a learned policy refines a static base policy using deep reinforcement learning (DRL), has shown strong performance across various robotic applications. Its effectiveness is particularly evident in…

Inspired by the success of DeepSeek-R1, we explore the potential of rule-based reinforcement learning (RL) in MLLM post-training for perception policy learning. While promising, our initial experiments reveal that incorporating a thinking…

Reinforcement learning (RL) has emerged as a powerful post-training technique to incentivize the reasoning ability of large language models (LLMs). However, LLMs can respond very inconsistently to RL finetuning: some show substantial…

Recent advances in Vision-Language-Action (VLA) models have opened new avenues for robot manipulation, yet existing methods exhibit limited efficiency and a lack of high-level knowledge and spatial awareness. To address these challenges, we…

Vision-Language-Action (VLA) models adapt large vision-language backbones to map images and instructions into robot actions. However, prevailing VLAs either generate actions auto-regressively in a fixed left-to-right order or attach…

While Vision-Language-Action (VLA) models show strong promise for generalist robot control, it remains unclear whether -- and under what conditions -- the standard "scale data" recipe translates to robotics, where training data is…

We present Q-chunking, a simple yet effective recipe for improving reinforcement learning (RL) algorithms for long-horizon, sparse-reward tasks. Our recipe is designed for the offline-to-online RL setting, where the goal is to leverage an…

Understanding how Vision-Language-Action (VLA) models transform multimodal knowledge into embodied control remains an open challenge. We present VLA-Trace, a progressive diagnostic framework that analyzes VLA models through a unified…

Vision-Language-Action (VLA) models have shown remarkable progress in embodied tasks recently, but most methods process visual observations independently at each timestep. This history-agnostic design treats robot manipulation as a Markov…

Vision-Language-Action models (VLAs) achieve strong performance in general robotic manipulation tasks by scaling imitation learning. However, existing VLAs are limited to predicting short-sighted next-action, which struggle with…

Reasoning Vision Language Action (VLA) models improve robotic instruction-following by generating step-by-step textual plans before low-level actions, an approach inspired by Chain-of-Thought (CoT) reasoning in language models. Yet even…

Vision-language-action models must enable agents to execute long-horizon tasks under partial observability. However, most existing approaches remain observation-driven, relying on short context windows or repeated queries to vision-language…

Language models must now generalize out of the box to novel environments and work inside inference-scaling search procedures, such as AlphaEvolve, that select rollouts with a variety of task-specific reward functions. Unfortunately, the…