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This work introduces Rollback, a policy improvement paradigm that turns world models from passive simulators into counterfactual engines, and builds a scalable training system that unifies distributed world-model search with asynchronous real-robot execution, forming a self-reinforcing cycle.
BEE is introduced, an intervention-adaptive framework for real-world RL on a frozen VLA that lets the policy go BEyond Expert imitation, and a Correction Model predicts how a human would correct a given VLA proposal and how consistent the correction is along each action dimension.
The effectiveness of CGRL for limited-budget HPO and its applicability to practical RE tasks are demonstrated and a process-aware reward provides dense and informative feedback for policy learning.
This work introduces Continual Interactive Distillation for Embodied Reinforcement Learning (CIDER), a continual reinforcement learning framework that freezes the accumulated historical policy as a teacher before learning each new task and interleaves task learning with distillation-based retention.
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