Author

A. Kornaev

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Preprint Aug 2026

RL Bootstrapping of OpenVLA-OFT for a Novel Robot Embodiment

The results provide stronger evidence that RL-only bootstrapping can create the first usable language-conditioned controller for a genuinely novel embodiment, and use reinforcement learning in simulation with dense geometric rewards computed from simulator state.

Damir Nurtdinov, A. Kornaev, A. Maloletov · 0 citations