MiDAS, a two-stage recipe of one-demo behavior cloning plus residual online RL on a frozen VLA backbone, reaches high success from a single demonstration in simulation and improves real-world bimanual manipulation.
Residual off-policy rl for finetuning behavior cloning policies, 2025
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Adaptation of Generalist Robot Policies with Minimal Data
MiDAS, a two-stage recipe of one-demo behavior cloning plus residual online RL on a frozen VLA backbone, reaches high success from a single demonstration in simulation and improves real-world bimanual manipulation.