Author

Jia-Jin Zhang

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Preprint Sep 2026

Stable and Efficient Real-World Online VLA Post-Training via Asynchronous Replay-Anchored Policy Improvement

Overall, RAPolicy substantially outperforms the baselines in aggregate task success while requiring fewer human interventions, demonstrating stable policy improvement and high online training efficiency.

Jia-Rui Yang, Jia-Jin Zhang, Bin Zhu et al. · 0 citations