ExToken: Structured Exploration for Efficient Vision-Language-Action Reinforcement Fine-tuning

Abstract

Reinforcement Learning (RL) has demonstrated significant potential for improving Vision-Language-Action (VLA) models on complex manipulation tasks. However, its practical scalability remains severely limited by the substantial cost of environmental interactions. In this work, we first investigate the exploration stagnation bottleneck in current VLA-RL frameworks and reveal that trajectory diversity is fundamentally more important to sample efficiency than the sheer quantity of collected rollouts. Motivated by these insights, we introduce RL Exploration Token (ExToken), a simple yet general framework that condition VLA policies on discrete behavioral priors derived from offline demonstrations for structured exploration. By conditioning the policy on different tokens during rollout collection, ExToken encourages the agent to explore diverse behavioral modes, substantially improving state-action coverage and exploration efficiency. To bridge exploration during training with deterministic inference at deployment, ExToken further incorporates a state-conditioned token selector that adaptively predicts effective behavioral modes for unseen scenarios. Extensive experiments across simulated and real-world robotic manipulation tasks demonstrate that ExToken consistently accelerates convergence, improves task performance, and exhibits strong robustness under highly constrained interaction budgets.