Author

Karthik Pythireddi

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RECAP-Ψ : Advantage-Conditioned Fine-Tuning for Open-Source Humanoid VLAs

This paper applies RECAP’s three-component recipe to Ψ 0 Wei et al. (2026), a recently open-sourced humanoid VLA, providing the first reproduction of RECAP outside Physical Intelligence’s stack.

Karthik Pythireddi, Aaditya Shah, Jonathan Lu · 0 citations