The paper presents Real‑Time EXPO‑FT, a reinforcement learning framework that fine‑tunes large Vision‑Language‑Action models for real‑time robotic control. It separates slow, expressive action generation from fast, reactive edits, allowing a lightweight policy to adjust actions based on the latest observation. Experiments on the Kinetix benchmark and four dynamic real‑world tasks show that Real‑Time EXPO‑FT achieves superior performance, improving policy success rates from 42% to 97% with only ten minutes of online data and no human intervention.
By Perry Dong, Kuo-Han Hung, Dorsa Sadigh, Chelsea Finn
arXiv:2604. 13733v2 Announce Type: replace-cross Abstract: Reinforcement learning (RL) enables high-frequency, closed-loop control for robotic manipulation, but scaling to long-horizon tasks with sparse or imperfect rewards remains difficult due to inefficient exploration and poor credit assignment.
By Angelo Moroncelli, Roberto Zanetti, Marco Maccarini, Loris Roveda
arXiv:2609.36250v1 Announce Type: new
Abstract: Action chunking provides temporal abstraction in reinforcement learning by selecting short action sequences instead of individual actions, but many exi...
By Sanghyun Hahn, Jonghyun Choi
arXiv:2607. 04265v1 Announce Type: cross Abstract: World-action (WA) models can generate long-horizon action chunks for general-purpose robotic manipulation, but they remain vulnerable to calibration, perception, and contact-dynamics errors in real-world precision tasks, often failing in the final few millimeters of alignment or insertion.
By Angen Ye, Weijie Ke, Xiaofeng Wang, Xinze Chen, Chaojun Ni, Guosheng Zhao, Boyuan Wang, Zheng Zhu, Junjie Xie, Dapeng Zhang
The paper introduces ARLI, a latency‑aware framework that enables reinforcement learning fine‑tuning of large generalist robot policies despite inference delays. ARLI combines asynchronous inference with state augmentations—incorporating committed actions and mid‑inference observations—to restore near‑Markovian dynamics and maintain reactivity. Experiments on simulated and real‑world manipulation tasks show that ARLI allows effective policy improvement under latency, outperforming standard RL even in no‑latency scenarios.
By Brian Zhu (Siemens), Momen Khalil (Siemens), E Harrison (UC Berkeley), Emanuele Poggi (Siemens), Philipp Schmitt (Siemens), Bernd Kast (Siemens), Philine Meister (Siemens), Pranav Atreya (UC Berkeley), Qiyang Li (UC Berkeley), Finn Ferchau (Siemens), Cesar Colmenero (Siemens), Yash Shahapurkar (Siemens), Gokul Narayanan (Siemens), Melih Erdogan (Siemens), Kai Wurm (Siemens), Georg von Wichert (Siemens), Oier Mees (Microsoft, ETH Zurich, UC Berkeley), Eugen Solowjow (Siemens), Andrew Wagenmaker (UC Berkeley), Sergey Levine (UC Berkeley)
EXPO-FT is a system that enables stable, sample‑efficient reinforcement learning fine‑tuning of pretrained Vision‑Language‑Action (VLA) policies. It achieves perfect success on a range of manipulation tasks—such as routing string lights, striking a pool ball, and inserting a flower into a wine bottle—using only about 19.1 minutes of online robot data. The approach outperforms both RL-from-scratch and existing VLA fine‑tuning methods, and the authors provide an open‑source codebase to support wider adoption.
By Perry Dong, Kuo-Han Hung, Tian Gao, Dorsa Sadigh, Chelsea Finn