Author

Yi-Ning Li

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Preprint Sep 2026

RoboDrop: Curating VLA Post-Training Data via Local Gradient Compatibility

Vision--language--action (VLA) models acquire broad generalization through large-scale pretraining, yet adapting them to a new task and robot embodiment still requires post-training on newly collected data. Unlike pretraining, post-training targets task- and embodiment-specific adaptation, making it particularly sensit...

Runze Xu, Yuanfan Xu, Cui-Jie Xu et al. · 0 citations

#artificial intelligence Preprint Aug 2026

On-policy Distillation with Verifiable Reward

This work reformulates the implicit reward of sampled-token OPD based on trajectory correctness, then applies a ReLU gating mechanism to ensure that correct trajectories receive non-negative rewards and incorrect ones receive non-positive rewards, making it readily combinable with any policy gradient algorithm, such as...

Wen-Ze Lin, Jia-Le Zhao, Xi-Tai Jiang et al. · 9 citations · ⚡4