The paper introduces PARTS, a real‑world subtask reinforcement learning framework that fine‑tunes a pretrained robot policy by focusing on critical bottleneck subtasks while keeping the base policy frozen. It uses agent‑generated selectors and success verifiers to provide local rewards, enabling learning even when full‑task successes are rare. Experiments on bimanual YAM and single‑arm Franka robots show that PARTS raises complete‑task success from 32% to 61% and from 50% to 95%, respectively, with only tens of minutes of real‑world RL rollouts and minimal human intervention.
By Sichang Su, Benjamin Yang, Zhiyun Deng, Boyuan Liang, Yip Fun Yeung, Zelin Wang, Lingfeng Sun
arXiv:2602. 05459v2 Announce Type: replace Abstract: Offline goal-conditioned reinforcement learning (GCRL) is typically benchmarked by the best tuned success rate of each method.
By Jan Malte T\"opperwien, Aditya Mohan, Marius Lindauer
The paper introduces TASPO, a method that transforms privileged information (PI) into outcome‑grounded action credit for language‑model agents. TASPO constructs decision‑applicable PI from verified successful experience, aggregates PI‑induced likelihood shifts at the executable‑action level, and converts relative action support into positive, bounded, mean‑preserving weights on the original trajectory advantage. Experiments on three agentic benchmarks show TASPO improves over GRPO by 10.6% and generalizes better to unseen tasks, while reducing supervision mismatch and stabilizing policy optimization.
By Jingxiao Yang, Wangjie Gan, Yingxuan Zhuang, Wenqi Zhang, Jintao Chen, Xuhong Zhang
Prism‑GRPO enhances the GRPO reinforcement‑learning algorithm for vision‑language‑action policies by adding a weighted trajectory‑level execution‑quality score to binary success rewards. This approach splits groups with identical outcomes into a quality spectrum, preserving training signal while ensuring successes always outrank failures. Experiments on four RoboTwin tasks show Prism‑GRPO achieves higher success and quality at matched rollout budgets, reaching target success rates with up to 56% fewer rollouts and mitigating reward‑hacking behaviors that transfer to real‑robot deployment.
By Zeyun Deng, Yuzhe Lu, Yawei Wang, Linbo Liu, Qing Ping, Han Ding, Guande Wu, Panpan Xu, Jun Huan
arXiv:2608. 06861v1 Announce Type: new Abstract: Training large language model agents in long-horizon environments requires assigning credit from sparse terminal outcomes to individual actions.
By Hongxi Yan, Ziyue Huang, Shichao Fan, Qingjie Liu
arXiv:2606. 12372v1 Announce Type: cross Abstract: Human-in-the-loop reinforcement learning (HiL-RL) has emerged as an effective paradigm for real-world robotic manipulation, enabling online policy improvement with human guidance.
By Haoyuan Deng, Yitong Gao, Yudong Lin, Haichao Liu, Zhenyu Wu, Ziwei Wang