4 papers · 1 filter
HELP: Human-Efficient Large-Scale Robot Post-Training with Rollout Segmentation
Shaopeng Zhai, Qi Zhang, Tianyi Zhang +5
When adapting Vision Language Action (VLA) models to downstream tasks, multiple rounds of post-training are often required to progressively address policy weaknesses. In this repor…
Preserving Foundational Capabilities in Flow-Matching VLAs through Conservative SFT
Tianyi Zhang, Shaopeng Zhai, Haoran Zhang +2
Unconstrained fine-tuning of flow-matching Vision-Language-Action (VLA) models drives dense parameter overwrites, degrading pre-trained capabilities. We present Conservative Superv…
BlockVLA: Accelerating Autoregressive VLA via Block Diffusion Finetuning
Ruiheng Wang, Shuanghao Bai, Haoran Zhang +2
While autoregressive (AR) Vision-Language-Action (VLA) models have demonstrated formidable reasoning capabilities in robotic tasks, their sequential decoding process often incurs h…
A Vision-Language-Action-Critic Model for Robotic Real-World Reinforcement Learning
Shaopeng Zhai, Qi Zhang, Tianyi Zhang +7
Robotic real-world reinforcement learning (RL) with vision-language-action (VLA) models is bottlenecked by sparse, handcrafted rewards and inefficient exploration. We introduce VLA…