Beyond Imitation: Reinforcement Learning-Based Sim-Real Co-Training for VLA Models

arXiv:2602.12628 · cs.RO · Submitted 2026-02-13 · Read on arXiv

cs.RO

Submitted: 2026-02-13

Updated: 2026-10-22

Terminology

• Fine-Tuning — 2× in this paper · explained in 5 episodes
• Generalization — 2× in this paper · explained in 13 episodes
• Reinforcement Learning — 2× in this paper · explained in 4 episodes
• Catastrophic Forgetting — 1× in this paper · explained in 9 episodes
• Supervised Fine-Tuning (SFT) — 1× in this paper · explained in 12 episodes
• VLA Models — 1× in this paper · explained in 3 episodes

Related papers

• FMT x: An Efficient and Asymptotically Optimal Extension of the Fast Marching Tree for Dynamic Replanning
• MPCFormer: A physics-informed data-driven approach for explainable socially-aware autonomous driving
• RoboLab: A High-Fidelity Simulation Benchmark for Analysis of Task Generalist Policies
• ARC: A Reasoning Recipe for Robot Foundation Models
• HRDexDB: A 4D Dexterous Grasping Dataset Across Human and Multiple Robot Embodiments
• APT: Action Expert Pretraining Improves Instruction Generalization of Vision-Language-Action Policies