Preprint
Nov 2026
Beyond Policy Patches: Distilling RL Specialists into Vision-Language-Action Policies
Vision-language-action (VLA) policies can handle noncritical stages of long-horizon manipulation yet fail during short precision-critical phases. Lightweight reinforcement learning (RL) specialists can address these failures without directly applying RL to the full VLA, but retain auxiliary controllers and switching me...
Zhen-Nan Jiang, Ting-Ying Xie, Shi-Long Ji et al.
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