The Low-Rank Structure of VLA Reinforcement Learning
Reinforcement learning (RL) is increasingly used to post-train vision-language-action (VLA) models, yet how RL reshapes these policies remains poorly understood. We find that RL across widely used flow-based VLA models, including $\pi_{0.5}$ and GR00T~N1.5/N1.6, on LIBERO, ManiSkill, MetaWorld, and CALVIN induces subst...
Minjae Oh, Yoonah Park, Jongwon Lim et al.
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