Author

Nanpeng Zou

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Preprint Aug 2026

StructRL: Structured Action-Space Exploration for Flow-Based VLAs

Across three flow-based VLA models on multiple simulated manipulation benchmarks and two real-world tasks, StructRL improves exploration efficiency and OOD performance over prior in-chain baselines, demonstrating the effectiveness of structured action-space exploration for adapting flow-based VLA with RL.

Jia-Rui Yang, Bin Zhu, Jing-Jing Chen et al. · 1 citation