Author

Hang Gao

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Preprint Aug 2026

Temporal GRPO: Beyond Trajectory-Level Credit in Vision-Language-Action Reinforcement Learning

Temporal GRPO addresses the problem of trajectory-level credit aliasing in post-train VLA policies by constructing detectable task stages, aligning each rollout with stage-specific action intervals, and comparing only rollouts that have entered the same stage.

Yao Zhou, Hang Gao, Fengge Wu et al. · 0 citations