StructRL: Online Structured Reinforcement Learning for Long-Horizon Vision-Language-Action Tasks
Vision-language-action (VLA) models perform well on shorter-horizon manipulation tasks but still struggle with long-horizon tasks that require multiple dependent manipulations from a single command. Online reinforcement learning (RL) can improve these policies through environment interaction, yet many existing methods...
Zi-Yi Yin, Sang-Min Woo, Kang Zhou et al.
· 0 citations