Pith Number

pith:7R3KALCW

pith:2026:7R3KALCWAIBC6ZW7UNM2A3ARTT

not attested not anchored not stored refs pending

Learning While Deploying: Fleet-Scale Reinforcement Learning for Generalist Robot Policies

Buqing Nie, Chendi Qu, Jeffrey Wu, Jianheng Song, Jianlan Luo, Jingshun Huang, Mingjie Pan, Pengwei Xie, Pu Yang, Qinglin Zhang, Siyuan Feng, Xinchen Li, Xinlin Ren, Yi Wang, Yunuo Cai, Zhi Chen

A single generalist policy trained across a robot fleet reaches 95% success rate as experience accumulates.

arxiv:2605.00416 v2 · 2026-05-01 · cs.RO

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\usepackage{pith}
\pithnumber{7R3KALCWAIBC6ZW7UNM2A3ARTT}

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Record completeness

1 Bitcoin timestamp

2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

✓ Portable graph bundle live · download bundle · merged state

The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Claims

C1strongest claim

A single generalist policy improves as fleet experience accumulates, reaching an average success rate of 95%, with the largest gains on long-horizon tasks.

C2weakest assumption

That the combination of DIVL for robust value estimation and QAM for policy extraction can stabilize learning from heterogeneous, sparse-reward data collected across a robot fleet without additional mechanisms for handling noise or bias in human interventions.

C3one line summary

Fleet-scale RL framework improves a single generalist VLA policy from deployment data to 95% average success on eight real-world manipulation tasks with 16 dual-arm robots.

Receipt and verification

First computed	2026-06-04T01:08:50.710552Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

fc76a02c5602022f66dfa359a06c119cf35d3051c549d7ced1ea3d6812efa28b

Aliases

arxiv: 2605.00416 · arxiv_version: 2605.00416v2 · doi: 10.48550/arxiv.2605.00416 · pith_short_12: 7R3KALCWAIBC · pith_short_16: 7R3KALCWAIBC6ZW7 · pith_short_8: 7R3KALCW

Agent API

Resolver JSON Graph JSON Events JSON Schema Signing key

Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/7R3KALCWAIBC6ZW7UNM2A3ARTT \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: fc76a02c5602022f66dfa359a06c119cf35d3051c549d7ced1ea3d6812efa28b

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "98d824b8256fed7fd16f4324d5894e13224752a68eb90cfd9098b15ec171acad",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-05-01T05:20:26Z",
    "title_canon_sha256": "40aede173ed21899b932f9de06f20022dfeb6d1ab52d0857b70afb48e9e6b1f7"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2605.00416",
    "kind": "arxiv",
    "version": 2
  }
}