RECAP enables a generalist VLA to self-improve via advantage-conditioned RL on mixed real-world data, more than doubling throughput and halving failure rates on hard manipulation tasks.
Offline reinforcement learning with implicit q-learning
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$\pi^{*}_{0.6}$: a VLA That Learns From Experience
RECAP enables a generalist VLA to self-improve via advantage-conditioned RL on mixed real-world data, more than doubling throughput and halving failure rates on hard manipulation tasks.