ReCoVLA improves VLA policy reliability by using a VLM as a semantic reward selector to train residual recovery policies in simulation, raising average success from 36.7% to 66.7% in sim and achieving 61.7% in zero-shot sim-to-real physical tests.
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Rlinf: Flexible and efficient large-scale reinforcement learning via macro-to-micro flow transformation
16 Pith papers cite this work. Polarity classification is still indexing.
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ActProbe is an action-space detector that uses temporal consistency error and action chunk magnitude from policy outputs, mapped via LSTM-MLP, to predict failures earlier than baselines across policies and real-robot tasks.
DVAC uses denoising variance as an intrinsic signal to adaptively chunk actions in flow-based robot policies, improving success rates and cutting replans on LIBERO, RoboTwin, CALVIN, and real-world tasks.
NoiseGate learns per-latent timestep schedules as an information-gating policy in diffusion-based world action models, yielding consistent gains on RoboTwin manipulation tasks.
SpecRLBench is a new benchmark evaluating generalization of LTL-guided RL methods across navigation and manipulation domains with static/dynamic environments and varied robot dynamics.
FiberTune is a new fine-tuning objective that preserves action-fiber visual residuals in VLA policies, yielding performance gains on simulation and physical robot tasks.
PAIR-VLA adds invariance and sensitivity objectives over paired visual variants during PPO fine-tuning of VLA models, yielding 9-16% average gains on ManiSkill3 under distractors, textures, poses, viewpoints, and lighting shifts.
RAW-Dream disentangles world-model learning from task data by using a pre-trained task-agnostic world model and VLM rewards, with dual-noise filtering, to enable zero-shot VLA adaptation in simulation and real settings.
DORA's multi-version streaming rollout enables 2-3x higher throughput in asynchronous RL for LLMs while preserving convergence by maintaining policy consistency, data integrity, and bounded staleness.
JigsawRL achieves up to 1.85x higher throughput in LLM RL pipelines via pipeline multiplexing, sub-stage graphs, and look-ahead scheduling compared to prior systems.
AsyncVLA adds asynchronous flow matching and a confidence rater to VLA models so they can generate actions on flexible schedules and selectively refine low-confidence tokens before execution.
FORCE is a 3-stage RL fine-tuning method for VLA models that stabilizes Q-function via on-policy warm-up and filters high-value actions for updates, claiming 79% success rate gains and 32.5% faster training without human intervention.
InDex adapts VLA models to high-DoF dexterous manipulation via intent-conditioned fine-tuning and a decoupled diffusion head, outperforming monolithic baselines in simulation tasks with minimal data.
TacCoRL integrates tactile feedback into VLA policies via real-aligned simulation co-training and RL, raising average success from 50% to 72.5% on four bimanual contact-rich tasks with direct real-robot transfer.
Sword improves world model simulators for VLA policies by disentangling visual style from dynamics and bootstrapping latents for better consistency, outperforming baselines on LIBERO in generalization and RL post-training success.
Pre-VLA is a multimodal runtime verifier that predicts safety confidence and advantage scores for action chunks, raising closed-loop success rates on the LIBERO benchmark from 30.79% to 37.62%.
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Reinforcing VLAs in Task-Agnostic World Models
RAW-Dream disentangles world-model learning from task data by using a pre-trained task-agnostic world model and VLM rewards, with dual-noise filtering, to enable zero-shot VLA adaptation in simulation and real settings.