Daily Papers

World Models (WMs) have emerged as a promising approach for post-training Vision-Language-Action (VLA) policies to improve robustness and generalization under environmental changes. However, most WM-based post-training methods rely on pixel-space supervision, making policies sensitive to pixel-level artifacts and hallucination from imperfect WM rollouts. We introduce World2Act, a post-training framework that aligns VLA actions directly with WM video-dynamics latents using a contrastive matching objective, reducing dependence on pixels. Post-training performance is tied to rollout quality, yet current WMs struggle with arbitrary-length video generation as they are mostly trained on fixed-length clips while robotic execution durations vary widely. To address this, we propose an automatic LLM-based skill-decomposition pipeline that segments high-level instructions into low-level prompts. Our pipeline produces RoboCasa-Skill and LIBERO-Skill, supporting skill-compositional WMs that remain temporally consistent across diverse task horizons. Empirically, applying World2Act to VLAs like GR00T-N1.6 and Cosmos Policy achieves state-of-the-art results on RoboCasa and LIBERO, and improves real-world performance by 6.7%, enhancing embodied agent generalization.

Recently, action-based decision-making in open-world environments has gained significant attention. Visual Language Action (VLA) models, pretrained on large-scale web datasets, have shown promise in decision-making tasks. However, previous work has primarily focused on action post-training, often neglecting enhancements to the foundational model itself. In response, we introduce a novel approach, Act from Visual Language Post-Training, which refines Visual Language Models (VLMs) through visual and linguistic guidance in a self-supervised manner. This enhancement improves the models' capabilities in world knowledge, visual recognition, and spatial grounding in open-world environments. Following the above post-training paradigms, we obtain the first VLA models in Minecraft that can follow human instructions on over 1k different atomic tasks, including crafting, smelting, cooking, mining, and killing. Our experiments demonstrate that post-training on non-trajectory tasks leads to a significant 40% improvement over the best agent baseline on a diverse set of atomic tasks. Furthermore, we demonstrate that our approach surpasses traditional imitation learning-based policies in Minecraft, achieving state-of-the-art performance. We have open-sourced the code, models, and datasets to foster further research. The project page can be found in https://craftjarvis.github.io/JarvisVLA.

Large vision-language models (VLMs) excel at multimodal understanding but fall short when extended to embodied tasks, where instructions must be transformed into low-level motor actions. We introduce ST4VLA, a dual-system Vision-Language-Action framework that leverages Spatial Guided Training to align action learning with spatial priors in VLMs. ST4VLA includes two stages: (i) spatial grounding pre-training, which equips the VLM with transferable priors via scalable point, box, and trajectory prediction from both web-scale and robot-specific data, and (ii) spatially guided action post-training, which encourages the model to produce richer spatial priors to guide action generation via spatial prompting. This design preserves spatial grounding during policy learning and promotes consistent optimization across spatial and action objectives. Empirically, ST4VLA achieves substantial improvements over vanilla VLA, with performance increasing from 66.1 -> 84.6 on Google Robot and from 54.7 -> 73.2 on WidowX Robot, establishing new state-of-the-art results on SimplerEnv. It also demonstrates stronger generalization to unseen objects and paraphrased instructions, as well as robustness to long-horizon perturbations in real-world settings. These results highlight scalable spatially guided training as a promising direction for robust, generalizable robot learning. Source code, data and models are released at https://internrobotics.github.io/internvla-m1.github.io/

We introduce InternVLA-M1, a unified framework for spatial grounding and robot control that advances instruction-following robots toward scalable, general-purpose intelligence. Its core idea is spatially guided vision-language-action training, where spatial grounding serves as the critical link between instructions and robot actions. InternVLA-M1 employs a two-stage pipeline: (i) spatial grounding pre-training on over 2.3M spatial reasoning data to determine ``where to act'' by aligning instructions with visual, embodiment-agnostic positions, and (ii) spatially guided action post-training to decide ``how to act'' by generating embodiment-aware actions through plug-and-play spatial prompting. This spatially guided training recipe yields consistent gains: InternVLA-M1 outperforms its variant without spatial guidance by +14.6% on SimplerEnv Google Robot, +17% on WidowX, and +4.3% on LIBERO Franka, while demonstrating stronger spatial reasoning capability in box, point, and trace prediction. To further scale instruction following, we built a simulation engine to collect 244K generalizable pick-and-place episodes, enabling a 6.2% average improvement across 200 tasks and 3K+ objects. In real-world clustered pick-and-place, InternVLA-M1 improved by 7.3%, and with synthetic co-training, achieved +20.6% on unseen objects and novel configurations. Moreover, in long-horizon reasoning-intensive scenarios, it surpassed existing works by over 10%. These results highlight spatially guided training as a unifying principle for scalable and resilient generalist robots. Code and models are available at https://github.com/InternRobotics/InternVLA-M1.

We study how to improve large foundation vision-language-action (VLA) systems through online reinforcement learning (RL) in real-world settings. Central to this process is the value function, which provides learning signals to guide VLA learning from experience. In practice, the value function is estimated from trajectory fragments collected from different data sources, including historical policies and intermittent human interventions. Estimating the value function of current behavior quality from the mixture data is inherently an off-policy evaluation problem. However, prior work often adopts conservative on-policy estimation for stability, which avoids direct evaluation of the current high-capacity policy and limits learning effectiveness. In this paper, we propose ALOE, an action-level off-policy evaluation framework for VLA post-training. ALOE applies chunking-based temporal-difference bootstrapping to evaluate individual action sequences instead of predicting final task outcomes. This design improves effective credit assignment to critical action chunks under sparse rewards and supports stable policy improvement. We evaluate our method on three real-world manipulation tasks, including smartphone packing as a high-precision task, laundry folding as a long-horizon deformable-object task, and bimanual pick-and-place involving multi-object perception. Across all tasks, ALOE improves learning efficiency without compromising execution speed, showing that off-policy RL can be reintroduced in a reliable manner for real-world VLA post-training. Videos and additional materials are available at our project website.

World Action Models (WAMs) generate both future video and robot actions, offering two connected outputs for post-training supervision. How can a pretrained WAM learn from a stronger Teacher on the histories it encounters during execution? We present WAM-OPD, which collects Student rollout histories and queries a Teacher for paired video and action targets. The Student learns from both targets while retaining its one-step video and action generation at deployment. Across 12 RoboTwin 2.0 tasks, WAM-OPD improves average success from 33.8% to 65.7%; across four real-robot tasks, it improves average success from 51.4% to 64.6%. With the collected Student histories held fixed, joint video-action supervision achieves the highest observed success on all three ablation tasks, while either modality alone also improves performance. A separate comparison with Teacher-generated histories finds task-dependent differences between the two history sources. These results demonstrate the value of paired video-action supervision for improving WAM policies without increasing their deployed sampling budget.

We introduce RIPT-VLA, a simple and scalable reinforcement-learning-based interactive post-training paradigm that fine-tunes pretrained Vision-Language-Action (VLA) models using only sparse binary success rewards. Existing VLA training pipelines rely heavily on offline expert demonstration data and supervised imitation, limiting their ability to adapt to new tasks and environments under low-data regimes. RIPT-VLA addresses this by enabling interactive post-training with a stable policy optimization algorithm based on dynamic rollout sampling and leave-one-out advantage estimation. RIPT-VLA has the following characteristics. First, it applies to various VLA models, resulting in an improvement on the lightweight QueST model by 21.2%, and the 7B OpenVLA-OFT model to an unprecedented 97.5% success rate. Second, it is computationally efficient and data-efficient: with only one demonstration, RIPT-VLA enables an unworkable SFT model (4%) to succeed with a 97% success rate within 15 iterations. Furthermore, we demonstrate that the policy learned by RIPT-VLA generalizes across different tasks and scenarios and is robust to the initial state context. These results highlight RIPT-VLA as a practical and effective paradigm for post-training VLA models through minimal supervision.

Vision-language-action (VLA) models achieve strong generalization through large-scale pre-training, but real-world deployment requires expert-level task proficiency in addition to broad generality. Existing post-training approaches for VLA models are typically offline, single-robot, or task-specific, limiting effective on-policy adaptation and scalable learning from real-world interaction. We introduce a Scalable Online Post-training (SOP) system that enables online, distributed, multi-task post-training of generalist VLA models directly in the physical world. SOP tightly couples execution and learning through a closed-loop architecture in which a fleet of robots continuously streams on-policy experience and human intervention signals to a centralized cloud learner, and asynchronously receives updated policies. This design supports prompt on-policy correction, scales experience collection through parallel deployment, and preserves generality during adaptation. SOP is agnostic to the choice of post-training algorithm; we instantiate it with both interactive imitation learning (HG-DAgger) and reinforcement learning (RECAP). Across a range of real-world manipulation tasks including cloth folding, box assembly, and grocery restocking, we show that SOP substantially improves the performance of large pretrained VLA models while maintaining a single shared policy across tasks. Effective post-training can be achieved within hours of real-world interaction, and performance scales near-linearly with the number of robots in the fleet. These results suggest that tightly coupling online learning with fleet-scale deployment is instrumental to enabling efficient, reliable, and scalable post-training of generalist robot policies in the physical world.

Vision-Language-Action models (VLAs) have demonstrated strong potential for embodied AI, yet their deployment on resource-limited robots remains challenging due to high memory and computational demands. While Post-Training Quantization (PTQ) provides an efficient solution, directly applying PTQ to VLAs often results in severe performance degradation during sequential control. We identify temporal error accumulation as a key factor, where quantization perturbations at the vision-language-to-action interface are progressively amplified, leading to kinematic drift in executed trajectories. To address this issue, we propose Drift-Aware Post-Training Quantization (DA-PTQ), which formulates quantization as a drift-aware optimization problem over sequential decision processes. DA-PTQ consists of two components: (1) Cross-Space Representation Compensation, which mitigates structured distortions between multimodal representations and action space to improve action consistency, and (2) Motion-Driven Mixed-Precision Allocation, which assigns bit-widths by minimizing trajectory-level motion errors. Extensive experiments show that DA-PTQ significantly reduces kinematic drift and achieves comparable performance to full-precision models under low-bit settings, enabling practical deployment of VLAs on resource-limited robotic platforms.

Large-scale vision-language-action (VLA) models provide powerful priors for robot manipulation, yet adapting them to a specific deployment remains challenging. Supervised fine-tuning (SFT) on task-specific demonstrations provides a step toward deployment, but faces two persistent limitations: static data provide limited coverage of out-of-distribution states, and standard imitation objectives do not distinguish progressing behavior from less useful data. Interactive post-training can address these limitations, but typically requires repeated policy execution and human intervention on a physical robot. We introduce HIL-UMI, a policy-guided Universal Manipulation Interface (UMI) framework for robot-free human-in-the-loop VLA post-training. During handheld UMI demonstrations, HIL-UMI queries the current policy on the same observation stream without executing its predictions. The Energy Score compares the human action trajectory with policy inference and triggers collection when their discrepancy indicates an out-of-distribution region. In a separate feedback loop, low online advantage predictions identify essential segments for refining a progress-based advantage estimator. The updated estimator then guides advantage-conditioned behavioral cloning using a balanced mixture of base demonstrations and new policy data. This design preserves the iterative and policy-aware nature of human-in-the-loop learning while decoupling data collection from robot deployment. Experiments on four real-world tasks spanning long-horizon and precise manipulation show that HIL-UMI achieves consistent improvement over SFT and benefits from both targeted collection and advantage refinement. Moreover, HIL-UMI outperforms HG-DAgger on Clean Up Table with lower per-frame collection time, suggesting a scalable path for VLA post-training across operators and locations.

We present DreamTrue, a multi-view, cross-embodiment robot world model for action-faithful and physically plausible video prediction. Training such a model on existing robot datasets faces two obstacles: imprecise calibration can impair action following, while limited coverage of unsuccessful interactions can bias predictions toward successful outcomes. To improve action following across embodiments, we render action trajectories into image-space conditions and introduce offline geometric calibration to align these conditions with the target videos. To broaden interaction coverage, we introduce counterfactual post-training, modifying recorded action trajectories and generating future videos under a wider range of actions and contact configurations. To provide feedback on these predictions without paired ground-truth futures, we construct a human-annotated video dataset covering robot, object, and interaction defects and use it to train an embodied video reward model. Its scores guide reinforcement-learning post-training toward more physically plausible interaction outcomes. On AgiBot, DreamTrue attains state-of-the-art action following, while reducing the human-assessed interaction defect rate from from 48.12% to 6.25%. Notably, our model ranks first in the world model track of the AgiBot World Challenge 2026. The project page can be found at https://brave-eai.github.io/DreamTrue.

Vision-language-action (VLA) models unify perception, language, and control for embodied agents but face significant challenges in practical deployment due to rapidly increasing compute and memory demands, especially as models scale to longer horizons and larger backbones. To address these bottlenecks, we introduce QuantVLA, a training-free post-training quantization (PTQ) framework that, to our knowledge, is the first PTQ approach for VLA systems and the first to successfully quantize a diffusion transformer (DiT) action head. QuantVLA incorporates three scale-calibrated components: (1) a selective quantization layout that integerizes all linear layers in both the language backbone and the DiT while keeping attention projections in floating point to preserve the original operator schedule; (2) attention temperature matching, a lightweight per-head scaling mechanism that stabilizes attention logits and is folded into the dequantization scales at inference; and (3) output head balancing, a per-layer residual interface calibration that mitigates post-projection energy drift. The framework requires no additional training, uses only a small unlabeled calibration buffer, and supports integer kernels for low-bit weights and activations while leaving the architecture unchanged. Across representative VLA models on LIBERO, QuantVLA exceeds the task success rates of full-precision baselines, achieves about 70% relative memory savings on the quantized components, and delivers a 1.22x speedup in end-to-end inference latency, providing a practical pathway toward scalable low-bit embodied intelligence under strict compute, memory, and power constraints.

Vision-Language-Action (VLA) models enable instruction-following embodied control, but their large compute and memory footprints hinder deployment on resource-constrained robots and edge platforms. While reducing weights to 1-bit precision through binarization can greatly improve efficiency, existing methods fail to narrow the distribution gap between binarized and full-precision weights, causing quantization errors to accumulate under long-horizon closed-loop execution and severely degrade actions. To fill this gap, we propose HBVLA, a VLA-tailored binarization framework. First, we use a policy-aware enhanced Hessian to identify weights that are truly critical for action generation. Then, we employ a sparse orthogonal transform for non-salient weights to induce a low-entropy intermediate state. Finally, we quantize both salient and non-salient weights in the Harr domain with group-wise 1-bit quantization. We have evaluated our approach on different VLAs: on LIBERO, quantized OpenVLA-OFT retains 92.2% of full-precision performance; on SimplerEnv, quantized CogAct retains 93.6%, significantly outperforming state-of-the-art binarization methods. We further validate our method on real-world evaluation suite and the results show that HBVLA incurs only marginal success-rate degradation compared to the full-precision model, demonstrating robust deployability under tight hardware constraints. Our work provides a practical foundation for ultra-low-bit quantization of VLAs, enabling more reliable deployment on hardware-limited robotic platforms.

The post-training of Vision-Language-Action (VLA) models is essential due to the diversity of simulators, robot embodiments, and task objectives. Existing compute services, whether offered as direct accelerator rental or batch-workload submission, typically allocate an exclusive set of GPU and CPU resources to a single tenant. While this paradigm maximizes client flexibility, it burdens users with infrastructure adaptation, and the fixed card-hour accounting model renders short or bursty workloads both expensive for tenants and inefficient for the service provider. To address these challenges, we present JoyNexus, a unified service for multi-tenant VLA supervised fine-tuning, reinforcement learning, and evaluation. JoyNexus decouples the Training Model Service, Inference Model Service, and Environment Service, each accessed through APIs and backed by resident shared base models with tenant-specific slots. Tenants can directly invoke high-level semantic APIs for training, rollout, and evaluation, or compose custom algorithms using lower-level APIs and their assigned endpoints. Multiple tenants submit workloads concurrently; their action modules, optimizers, rollout records, and policy versions remain isolated, and the service is scheduled by the global Training Queue and Inference Queue. To further improve multi-tenant training efficiency, JoyNexus introduces group batching for heterogeneous VLA data schemas that share a compatible model-facing prefix, enabling a single shared backbone forward pass over grouped samples. Finally, we evaluate JoyNexus through workload simulation and a group-batching pipeline in a realistic embodied scenario. Results show that, compared with isolated single-tenant execution, JoyNexus reduces aggregate GPU time and improves service utilization via cross-tenant scheduling on shared resources.

Discrete biological sequence optimization often requires goal-directed, parser-valid edits to an existing protein or molecule. Diffusion models support iterative refinement but do not expose a controllable discrete-edit interface, while autoregressive LLMs can be myopic when planning constrained edits over multiple steps. We introduce STRIDE (Sequence Trajectory Refinement via Iterative Discrete Editing), a post-training framework that trains an LLM to emit executable INSERT/DELETE/REPLACE trajectories for variable-length refinement. STRIDE first learns Levenshtein-aligned shortest-edit demonstrations, then uses supervised fine-tuning and group-based policy optimization to align trajectories with task rewards while preserving coherent editing. On an oracle-based full-action protein stress test, STRIDE raises success over Vanilla SFT from 42% to 89% and novelty among unique improvements from 47% to 97%. On instruction-conditioned molecular editing, the GSPO-aligned variant improves strict success, controllability, and SMILES validity over the SFT-only STRIDE model (code: https://github.com/daiheng-zhang/STRIDE).

Effective training and debriefing are critical in high-stakes, mission-critical environments such as disaster response, military simulations, and industrial safety, where precision and minimizing errors are paramount. The traditional post-training analysis relies on manually reviewing 2D videos, a time-consuming process that lacks comprehensive situational awareness. To address these limitations, we introduce ACT360, a system that leverages 360-degree videos and machine learning for automated action detection and structured debriefing. ACT360 integrates 360YOWO, an enhanced You Only Watch Once (YOWO) model with spatial attention and equirectangular-aware convolution (EAC) to mitigate panoramic video distortions. To enable deployment in resource-constrained environments, we apply quantization and model pruning, reducing the model size by 74% while maintaining robust accuracy (mAP drop of only 1.5%, from 0.865 to 0.850) and improving inference speed. We validate our approach on a publicly available dataset of 55 labeled 360-degree videos covering seven key operational actions, recorded across various real-world training sessions and environmental conditions. Additionally, ACT360 integrates 360AIE (Action Insight Explorer), a web-based interface for automatic action detection, retrieval, and textual summarization using large language models (LLMs), significantly enhancing post-incident analysis efficiency. ACT360 serves as a generalized framework for mission-critical debriefing, incorporating EAC, spatial attention, summarization, and model optimization. These innovations apply to any training environment requiring lightweight action detection and structured post-exercise analysis.

World models simulate dynamic environments, enabling agents to interact with diverse input modalities. Although recent advances have improved the visual quality and temporal consistency of video world models, their ability of accurately modeling human-specified actions remains under-explored. Reinforcement learning presents a promising approach for directly improving the suboptimal action-following capability of pre-trained models, assuming that an appropriate reward function can be defined. However, transferring reinforcement learning post-training methods to world model is impractical due to the prohibitive cost of large-scale preference annotations and the infeasibility of constructing rule-based video verifiers. To address this gap, we propose Reinforcement Learning with Inverse Rewards (RLIR), a post-training framework that derives verifiable reward signals by recovering input actions from generated videos using an Inverse Dynamics Model. By mapping high-dimensional video modality to a low-dimensional action space, RLIR provides an objective and verifiable reward for optimization via Group Relative Policy Optimization. Experiments across autoregressive and diffusion paradigms demonstrate 5-10% gains in action-following, up to 10% improvements in visual quality, and higher human preference scores, establishing RLIR as the first post-training method specifically designed to enhance action-following in video world models.

Open-source native GUI agents still lag behind closed-source systems on long-horizon navigation tasks. This gap stems from two limitations: a shortage of high-quality, action-aligned reasoning data, and the direct adoption of generic post-training pipelines that overlook the unique challenges of GUI agents. We identify two fundamental issues in these pipelines: (i) standard SFT with CoT reasoning often hurts grounding, and (ii) step-wise RLVR-tyle training faces partial verifiability, where multiple actions can be correct but only a single demonstrated action is used for verification. This makes offline step-wise metrics weak predictors of online task success. In this work, we present GUI-Libra, a tailored training recipe that addresses these challenges. First, to mitigate the scarcity of action-aligned reasoning data, we introduce a data construction and filtering pipeline and release a curated 81K GUI reasoning dataset. Second, to reconcile reasoning with grounding, we propose action-aware SFT that mixes reasoning-then-action and direct-action data and reweights tokens to emphasize action and grounding. Third, to stabilize RL under partial verifiability, we identify the overlooked importance of KL regularization in RLVR and show that a KL trust region is critical for improving offline-to-online predictability; we further introduce success-adaptive scaling to downweight unreliable negative gradients. Across diverse web and mobile benchmarks, GUI-Libra consistently improves both step-wise accuracy and end-to-end task completion. Our results suggest that carefully designed post-training and data curation can unlock significantly stronger task-solving capabilities without costly online data collection. We release our dataset, code, and models to facilitate further research on data-efficient post-training for reasoning-capable GUI agents.

Real-world post-training of generalist robot policies faces two challenges: partial observability makes action selection ambiguous, while offline post-training methods delay feedback from deployment experience. We present Value as Memory (VaM), a framework that addresses these challenges through value caching and online real-world reinforcement learning (RL). Value caching conditions actions on recent value predictions as task-progress memory, while online updates enable timely policy improvement by combining offline demonstrations, off-policy interventions, and on-policy rollouts for sample-efficient adaptation. As a result, VaM transitions from offline RL warmup to online autonomous learning with sparse rewards. Across long-horizon tasks involving deformable objects and contact-rich manipulation, VaM yields a mean absolute success-rate gain of 29.4% with value caching, while achieving a 32.8% gain with online autonomous learning over matched offline training. The evaluated online schedule performs 8times as many policy iterations under the same gradient-step budget, with more than 2times lower recorded time per gradient step with concurrent data collection and training.

When adapting Vision Language Action (VLA) models to downstream tasks, multiple rounds of post-training are often required to progressively address policy weaknesses. In this report, we focus on maximizing human efficiency during this iterative process, measured by policy improvement and task throughput per unit of human labor and time. We propose HELP, a Human-Efficient Large-scale robot Post-training pipeline in which two specialized operators supervise twelve robots concurrently. A trained Teleoperator provides high-value remote interventions and recovery demonstrations, while a Floor Operator monitors the robot fleet, triggers takeovers, and performs physical resets. This role specialization improves human efficiency by reducing task switching, lowering operator training costs, and expanding robot interaction coverage. Beyond increasing rollout volume, concurrent supervision also broadens the range of policy behaviors observed by the human team, making recurring failure modes easier to identify and enabling more targeted takeovers, resets, and recovery demonstrations. To efficiently utilize the large and mixed-quality rollout data, HELP incorporates \vlac, an automatic rollout segmentation critic specifically designed for this setting. It separates autonomous trajectories into progress-making, idle, failure-inducing, and recovery segments. Useful rollout segments are retained and combined with Human-in-the-Loop data for the next post-training round. Across four real-world manipulation tasks, HELP achieves 80\%--95\% success rates and improves task throughput by 1.7times--4.2times over the base model. Under matched HITL recovery budgets, VLAC-CUT further amplifies throughput gains by 1.20times--3.43times and success-rate gains by 1.50times--3.00times over HITL-only updates.

Reinforcement learning (RL) promises to unlock capabilities beyond imitation learning for Vision-Language-Action (VLA) models, but its requirement for massive real-world interaction prevents direct deployment on physical robots. Recent work attempts to use learned world models as simulators for policy optimization, yet closed-loop imagined rollouts inevitably suffer from hallucination and long-horizon error accumulation. Such errors do not merely degrade visual fidelity; they corrupt the optimization signal, encouraging policies to exploit model inaccuracies rather than genuine task progress. We propose WoVR, a reliable world-model-based reinforcement learning framework for post-training VLA policies. Instead of assuming a faithful world model, WoVR explicitly regulates how RL interacts with imperfect imagined dynamics. It improves rollout stability through a controllable action-conditioned video world model, reshapes imagined interaction to reduce effective error depth via Keyframe-Initialized Rollouts, and maintains policy-simulator alignment through World Model-Policy co-evolution. Extensive experiments on LIBERO benchmarks and real-world robotic manipulation demonstrate that WoVR enables stable long-horizon imagined rollouts and effective policy optimization, improving average LIBERO success from 39.95% to 69.2% (+29.3 points) and real-robot success from 61.7% to 91.7% (+30.0 points). These results show that learned world models can serve as practical simulators for reinforcement learning when hallucination is explicitly controlled.

Large language models excel with reinforcement learning (RL), but fully unlocking this potential requires a mid-training stage. An effective mid-training phase should identify a compact set of useful actions and enable fast selection among them through online RL. We formalize this intuition by presenting the first theoretical result on how mid-training shapes post-training: it characterizes an action subspace that minimizes both the value approximation error from pruning and the RL error during subsequent planning. Our analysis reveals two key determinants of mid-training effectiveness: pruning efficiency, which shapes the prior of the initial RL policy, and its impact on RL convergence, which governs the extent to which that policy can be improved via online interactions. These results suggest that mid-training is most effective when the decision space is compact and the effective horizon is short, highlighting the importance of operating in the space of action abstractions rather than primitive actions. Building on these insights, we propose Reasoning as Action Abstractions (RA3), a scalable mid-training algorithm. Specifically, we derive a sequential variational lower bound and optimize it by iteratively discovering temporally-consistent latent structures via RL, followed by fine-tuning on the bootstrapped data. Experiments on code generation tasks demonstrate the effectiveness of our approach. Across multiple base models, RA3 improves the average performance on HumanEval and MBPP by 8 and 4 points over the base model and the next-token prediction baseline. Furthermore, RA3 achieves faster convergence and higher asymptotic performance in RLVR on HumanEval+, MBPP+, LiveCodeBench, and Codeforces.

Vision-Language-Action (VLA) models trained via imitation learning suffer from significant performance degradation in data-scarce scenarios due to their reliance on large-scale demonstration datasets. Although reinforcement learning (RL)-based post-training has proven effective in addressing data scarcity, its application to VLA models is hindered by the non-resettable nature of real-world environments. This limitation is particularly critical in high-risk domains such as industrial automation, where interactions often induce state changes that are costly or infeasible to revert. Furthermore, existing VLA approaches lack a reliable mechanism for detecting task completion, leading to redundant actions that reduce overall task success rates. To address these challenges, we propose World-Env, an RL-based post-training framework that replaces physical interaction with a low-cost, world model-based virtual simulator. World-Env consists of two key components: (1) a video-based world simulator that generates temporally consistent future visual observations, and (2) a vision-language model (VLM)-guided instant reflector that provides continuous reward signals and predicts action termination. This simulated environment enables VLA models to safely explore and generalize beyond their initial imitation learning distribution. Our method achieves notable performance gains with as few as five expert demonstrations per task. Experiments on complex robotic manipulation tasks demonstrate that World-Env effectively overcomes the data inefficiency, safety constraints, and inefficient execution of conventional VLA models that rely on real-world interaction, offering a practical and scalable solution for post-training in resource-constrained settings.

Post-training for long-horizon agentic tasks has a tension between compute efficiency and generalization. While supervised fine-tuning (SFT) is compute efficient, it often suffers from out-of-domain (OOD) degradation. Conversely, end-to-end reinforcement learning (E2E RL) preserves OOD capabilities, but incurs high compute costs due to many turns of on-policy rollout. We introduce PivotRL, a novel framework that operates on existing SFT trajectories to combine the compute efficiency of SFT with the OOD accuracy of E2E RL. PivotRL relies on two key mechanisms: first, it executes local, on-policy rollouts and filters for pivots: informative intermediate turns where sampled actions exhibit high variance in outcomes; second, it utilizes rewards for functional-equivalent actions rather than demanding strict string matching with the SFT data demonstration. We theoretically show that these mechanisms incentivize strong learning signals with high natural gradient norm, while maximally preserving policy probability ordering on actions unrelated to training tasks. In comparison to standard SFT on identical data, we demonstrate that PivotRL achieves +4.17% higher in-domain accuracy on average across four agentic domains, and +10.04% higher OOD accuracy in non-agentic tasks. Notably, on agentic coding tasks, PivotRL achieves competitive accuracy with E2E RL with 4x fewer rollout turns. PivotRL is adopted by NVIDIA's Nemotron-3-Super-120B-A12B, acting as the workhorse in production-scale agentic post-training.

Reinforcement learning (RL) has become a standard technique for post-training diffusion-based image synthesis models, as it enables learning from reward signals to explicitly improve desirable aspects such as image quality and prompt alignment. In this paper, we propose an online RL variant that reduces the variance in the model updates by sampling paired trajectories and pulling the flow velocity in the direction of the more favorable image. Unlike existing methods that treat each sampling step as a separate policy action, we consider the entire sampling process as a single action. We experiment with both high-quality vision language models and off-the-shelf quality metrics for rewards, and evaluate the outputs using a broad set of metrics. Our method converges faster and yields higher output quality and prompt alignment than previous approaches.

Reinforcement learning (RL) has become a standard paradigm for post-training and aligning Large Language Models (LLMs), yet recent evidence suggests it faces a persistent "capability ceiling": unlike classical RL systems that discover novel strategies, RL for LLMs often acts as a mere refiner of patterns already latent in pre-trained weights. In this work, we identify a fundamental structural bottleneck: while classical RL relies on compact, informative Markov states, current LLM post-training formulations are tethered to an ever-expanding history of actions. We revisit a classical principle long central to RL yet absent from LLM post-training: explicit Markov states. Theoretically, we provide rigorous guarantees demonstrating that leveraging estimated Markov states can significantly reduce sample complexity. Empirically, we show that introducing Markov states consistently breaks the performance boundaries of standard RL post-training across a suite of complex logic puzzles. Our findings suggest that moving beyond "history-as-state" modeling in favor of structured Markovian representations is essential for unlocking open-ended discovery and genuinely new reasoning capabilities in Generative AI.

The integration of Vision-Language-Action (VLA) models with World Models has gained increasing attention. One representative approach treats learned World Models as generative simulators, enabling policy optimization entirely within "imagination." However, when deployed as simulators for specific environments such as the LIBERO benchmark, existing World Models often suffer from poor generalization and long-horizon error accumulation. During closed-loop rollouts, these models are highly sensitive to initial-state perturbations; minor changes in color, illumination, and other visual factors can trigger cascading hallucinations, leading to severe blurriness or overexposure. Moreover, long-horizon error accumulation further degrades the quality and fidelity of predicted future states. These issues limit the reliability of World Models as simulators. To mitigate these problems, we propose Sword, a robust World Model framework. Our method introduces Structure-Guided Style Augmentation to disentangle the visual textures of interactive environments from task-relevant dynamics, thereby improving generalization. We further propose Dynamic Latent Bootstrapping, which maintains consistency between training and inference while keeping memory consumption low. Extensive experiments on the LIBERO benchmark show that our method significantly outperforms the baseline WoVR in terms of generalization, generation quality, robustness, fidelity, and the success rate of reinforcement-learning post-training for VLA models.

An unsuccessful LLM agent rollout contains more information than its final reward: the observations available to the agent, the actions it chose, and the environment's responses. Reusing this experience for learning requires identifying a decision to revise and testing a concrete alternative. We introduce the Agent Error Dataset (AED), comprising 50,228 error-diagnosis pairs from 9,961 source tasks across 33 environments, 19 harness families, and 23 policy models in text-based agent systems. We retain source traces and execution metadata to support cross-setting failure analysis and re-diagnosis without repeating the original rollout. Our five-stage Agentic Error-to-Training (AET) pipeline collects natural failures, generates diagnoses and proposed corrections, and checks them against recorded evidence. Where replay is supported, we compare corrections with original-action retries from the same checkpoint under matched execution settings. We then construct separate training views for diagnosis and actor recovery. Across 3,062 matched replay pairs, first-proposal corrections raise verifier pass rates from 18.4% to 51.1%, a gain of 32.7 percentage points. Using a separately frozen diagnosis release, full-diagnosis fine-tuning on 1,656 source tasks raises Qwen3-8B's exact-step agreement with internal teacher labels from 47.2% to 63.6%, averaged over three seeds on a 943-case holdout. The strongest prompted reference in this comparison scores 54.7%, and mean agreement improves at each of four increasing training-set sizes. In a single-seed comparison of actor-training recipes, action-only repair training scores 6.67 percentage points higher on WebShop-lite than success-only training.

Standard reward models typically predict scalar scores that fail to capture the multifaceted nature of response quality in non-verifiable domains, such as creative writing or open-ended instruction following. To address this limitation, we propose Rubric-ARM, a framework that jointly optimizes a rubric generator and a judge using reinforcement learning from preference feedback. Unlike existing methods that rely on static rubrics or disjoint training pipelines, our approach treats rubric generation as a latent action learned to maximize judgment accuracy. We introduce an alternating optimization strategy to mitigate the non-stationarity of simultaneous updates, providing theoretical analysis that demonstrates how this schedule reduces gradient variance during training. Extensive experiments show that Rubric-ARM achieves state-of-the-art performance among baselines on multiple benchmarks and significantly improves downstream policy alignment in both offline and online reinforcement learning settings.

Policy mirror descent (PMD) provides a principled framework for reinforcement learning (RL) by iteratively solving KL-regularized policy improvement subproblems. While this approach has been adopted in training advanced LLMs such as Kimi K1.5/K2, the ideal closed-form PMD updates require reliable partition function estimation, a significant challenge when working with limited rollouts in the vast action spaces of LLMs. We investigate a practical algorithm, termed PMD-mean, that approximates the log-partition term with the mean reward under the sampling policy and performs regression in log-policy space. Specifically, we characterize the population solution of PMD-mean and demonstrate that it implicitly optimizes mirror descent subproblems with an adaptive mixed KL--χ^2 regularizer. This additional χ^2 regularization constrains large probability changes, producing more conservative updates when expected rewards are low and enhancing robustness against finite-sample estimation errors. Experiments on math reasoning tasks show that PMD-mean achieves superior performance with improved stability and time efficiency. These findings deepen our understanding of PMD-mean and illuminate pathways toward principled improvements in RL algorithms for LLMs. Code is available at https://github.com/horizon-rl/OpenKimi.

We propose Heterogeneous Masked Autoregression (HMA) for modeling action-video dynamics to generate high-quality data and evaluation in scaling robot learning. Building interactive video world models and policies for robotics is difficult due to the challenge of handling diverse settings while maintaining computational efficiency to run in real time. HMA uses heterogeneous pre-training from observations and action sequences across different robotic embodiments, domains, and tasks. HMA uses masked autoregression to generate quantized or soft tokens for video predictions. \ourshort achieves better visual fidelity and controllability than the previous robotic video generation models with 15 times faster speed in the real world. After post-training, this model can be used as a video simulator from low-level action inputs for evaluating policies and generating synthetic data. See this link https://liruiw.github.io/hma for more information.

Vision-language-action models benefit from the understanding and reasoning capabilities of pretrained vision-language models, but action-only supervision provides limited grounding in world dynamics. Conversely, world-action models inherit spatiotemporal priors from video generation models, yet remain limited in semantic understanding and reasoning under distribution shifts. We introduce UniWAM, a unified architecture that integrates a physical reasoner, a world generator, and an action predictor to jointly learn semantic understanding of the physical world, visual generation, and action prediction. To ensure the quality of the training data, we developed a rigorous data cleaning and annotation pipeline for both human egocentric data and robot data. To adapt the vision-language component to embodied tasks while preserving its inherited language capabilities, we represent low-level actions in natural language and introduce a pre-training recipe that assigns complementary supervision from visual question answering (VQA) data, human egocentric data, and robot demonstrations to the appropriate model components. During post-training, future visual noise augmentation reduces reliance on precise future predictions, while history-conditioned flow matching uses encoded action history to initialize action generation. Together, these designs significantly reduce denoising steps while maintaining performance. UniWAM achieves state-of-the-art (SOTA) performance across multiple evaluations, including in-distribution performance, robustness, generalization, instruction following, and long-horizon task execution. Furthermore, we uncover a log-linear scaling law of unified human-robot co-training, demonstrating the effectiveness of large-scale pre-training on a mixture of human and robot data.

Vision-Language-Action (VLA) models aim to unify perception, language understanding, and action generation, offering strong cross-task and cross-scene generalization with broad impact on embodied AI. However, current VLA models often lack explicit step-by-step reasoning, instead emitting final actions without considering affordance constraints or geometric relations. Their post-training pipelines also rarely reinforce reasoning quality, relying primarily on supervised fine-tuning with weak reward design. To address these challenges, we present VLA-R1, a reasoning-enhanced VLA that integrates Reinforcement Learning from Verifiable Rewards (RLVR) with Group Relative Policy Optimization (GRPO) to systematically optimize both reasoning and execution. Specifically, we design an RLVR-based post-training strategy with verifiable rewards for region alignment, trajectory consistency, and output formatting, thereby strengthening reasoning robustness and execution accuracy. Moreover, we develop VLA-CoT-13K, a high-quality dataset that provides chain-of-thought supervision explicitly aligned with affordance and trajectory annotations. Furthermore, extensive evaluations on in-domain, out-of-domain, simulation, and real-robot platforms demonstrate that VLA-R1 achieves superior generalization and real-world performance compared to prior VLA methods. We plan to release the model, code, and dataset following the publication of this work. Code: https://github.com/GigaAI-research/VLA-R1. Website: https://gigaai-research.github.io/VLA-R1.

End-to-end architectures trained via imitation learning have advanced autonomous driving by scaling model size and data, yet performance remains brittle in safety-critical long-tail scenarios where supervision is sparse and causal understanding is limited. To address this, we introduce Alpamayo-R1 (AR1), a vision-language-action model (VLA) that integrates Chain of Causation reasoning with trajectory planning to enhance decision-making in complex driving scenarios. Our approach features three key innovations: (1) the Chain of Causation (CoC) dataset, built through a hybrid auto-labeling and human-in-the-loop pipeline producing decision-grounded, causally linked reasoning traces aligned with driving behaviors; (2) a modular VLA architecture combining Cosmos-Reason, a Vision-Language Model pre-trained for Physical AI applications, with a diffusion-based trajectory decoder that generates dynamically feasible plans in real time; (3) a multi-stage training strategy using supervised fine-tuning to elicit reasoning and reinforcement learning (RL) to optimize reasoning quality via large reasoning model feedback and enforce reasoning-action consistency. Evaluation shows AR1 achieves up to a 12% improvement in planning accuracy on challenging cases compared to a trajectory-only baseline, with a 35% reduction in off-road rate and 25% reduction in close encounter rate in closed-loop simulation. RL post-training improves reasoning quality by 45% as measured by a large reasoning model critic and reasoning-action consistency by 37%. Model scaling from 0.5B to 7B parameters shows consistent improvements. On-vehicle road tests confirm real-time performance (99 ms latency) and successful urban deployment. By bridging interpretable reasoning with precise control, AR1 demonstrates a practical path towards Level 4 autonomous driving. We plan to release AR1 models and a subset of the CoC in a future update.

We present Xiaomi-Robotics-1, a foundational vision-language-action (VLA) model capable of (1) following diverse language instructions to perform a wide range of mobile manipulation tasks in unseen environments out-of-the-box, and (2) efficiently adapting to novel downstream tasks with minimal fine-tuning data. We propose a two-stage training recipe consisting of pre-training and post-training. During pre-training, we imbue the model with broad and generalizable action-generation capabilities by training on over 100k hours of real-world manipulation trajectories collected via UMI devices. Crucially, we develop a scalable auto-labeling pipeline that annotates trajectory clips with natural languages describing scene state transitions, providing rich and precise conditioning for action learning. During post-training, we aim to align these capabilities with robot embodiments and imperative instructions that humans naturally use to prompt robots. Extensive experiments demonstrate strong scaling behavior. Xiaomi-Robotics-1 consistently improves with increased data scales and model sizes during pre-training. This scaling behavior directly transfers to post-training, where a stronger pre-training model yields better out-of-the-box real-robot performance in unseen environments. Furthermore, Xiaomi-Robotics-1 serves as a strong robot foundation policy that can be efficiently fine-tuned on complex, dexterous tasks with high data efficiency. Across multiple simulation benchmarks, Xiaomi-Robotics-1 outperforms state-of-the-art methods. Notably, it establishes a new state-of-the-art with a 57.6% success rate on RoboCasa365, surpassing the previous best of 46.6%. Furthermore, it achieves an average score of 20.07 on RoboDojo, significantly outperforming the prior state-of-the-art (13.07). Code and model checkpoints will be released. Project page: https://robotics.xiaomi.com/xiaomi-robotics-1.html

We present N_0-VTLA, a vision-tactile-language-action (VTLA) foundation model capable of (1) fine-grained contact-rich manipulation with tactile perception and tactile-feedback control, and (2) offline policy improvement from stored deployment data. Building on current vision-based backbones, we propose a training recipe for tactile integration consisting of visuo-tactile pre-training, staged tactile-pathway integration, and advantage-conditioned offline policy improvement. During pre-training, the policy learns broad contact priors from NeoData, our large-scale visuo-tactile robot dataset; to our knowledge, N_0-VTLA is the first VTLA model pretrained on tactile data at scale. During post-training, we augment the policy with a predictive tactile pathway that distills the contact patterns learned at scale into the fine motion adjustments required by downstream tactile-centric manipulation. For offline policy improvement, we introduce ALTER, an advantage-conditioned offline reinforcement learning method that converts relative progress and trajectory-event comparisons into binary advantage labels for policy training on a fixed deployment corpus, further improving task-specific learning on contact-rich skills such as deformable object manipulation. Across contact-rich benchmarks, N_0-VTLA outperforms strong baselines by wide margins: it wins all nine real-robot NeoReal tasks and reaches 63.8% mean success on a twenty-task simulation suite, against 44.0% for the strongest baseline. N_0-VTLA policies trained with ALTER reach 75-95% success on three long-horizon real-robot tasks. These results lay a foundation for versatile tactile-driven manipulation policies.

In this report, we introduce Xiaomi-Robotics-0, an advanced vision-language-action (VLA) model optimized for high performance and fast and smooth real-time execution. The key to our method lies in a carefully designed training recipe and deployment strategy. Xiaomi-Robotics-0 is first pre-trained on large-scale cross-embodiment robot trajectories and vision-language data, endowing it with broad and generalizable action-generation capabilities while avoiding catastrophic forgetting of the visual-semantic knowledge of the underlying pre-trained VLM. During post-training, we propose several techniques for training the VLA model for asynchronous execution to address the inference latency during real-robot rollouts. During deployment, we carefully align the timesteps of consecutive predicted action chunks to ensure continuous and seamless real-time rollouts. We evaluate Xiaomi-Robotics-0 extensively in simulation benchmarks and on two challenging real-robot tasks that require precise and dexterous bimanual manipulation. Results show that our method achieves state-of-the-art performance across all simulation benchmarks. Moreover, Xiaomi-Robotics-0 can roll out fast and smoothly on real robots using a consumer-grade GPU, achieving high success rates and throughput on both real-robot tasks. To facilitate future research, code and model checkpoints are open-sourced at https://xiaomi-robotics-0.github.io

Vision-Language-Action (VLA) models exhibit remarkable action generation for embodied intelligence, but their heavy compute make deployment on edge platforms impractical. Aggressive, sub-4-bit weight quantization is the natural solution, yet existing post-training quantization (PTQ) methods suffer severe performance degradation in this regime. To address this, we introduce ActQuant, an action-guided mixed-precision PTQ framework that operates in two stages: (1) an inter-tensor bit allocator that assigns each weight matrix a single bit-width based on how much it contributes to predicting the agent's actions; (2) an intra-tensor scale optimizer tunes per-block quantization scales using action-aware curvature, so that dynamic range is concentrated on the weights most influential for control. To deliver the on-device benefits of our aggressive quantization, we further introduce OmniModel.cpp, an agentic conversion pipeline that ports architectures into a native C/C++ runtime with efficient low-bit kernels. We evaluate ActQuant both in simulation and on a real-world 6-DoF UR3 arm, with all models deployed through OmniModel.cpp. On the LIBERO benchmark, ActQuant is the only method that operates at or below 3 bits-per-weight, retaining 95.0% on OpenVLA-OFT and 94.8% on π_{0.5}. Pushed further, ActQuant reaches 2.5 bpw at 90.1% on OpenVLA-OFT, compressing the backbone from 14.3 GB to 2.7 GB (5.3times). On the physical UR3 arm, π_{0.5} quantized with ActQuant retains the baseline's success rate while reducing the memory footprint by 2.5times.

World-action models inherit broad visual and physical priors from video pre-training. However, standard within-video next-frame prediction allows them to rely on appearance shared between the context and future, rather than learning interactions that transfer across scenes and embodiments. We introduce WATCH, a cross-video pre-training that learns from task-paired human demonstrations collected across diverse environments. Conditioned on the video and actions of one demonstration, the model jointly predicts another demonstration's actions and future frames from its current observation. Predicting one demonstration from another encourages the model to learn task-relevant interactions that transfer across scenes and demonstrators. Our pre-training shows that these capabilities can be learned from readily scalable human-human pairs alone, without requiring matched human-robot demonstrations. Analyses before robot post-training show improved motion alignment across embodiments and better action and video prediction on unseen robots, with representations closer to those learned from robot pairs. After robot post-training, WATCH improves MimicDroid in-context success from 40.9% to 68.3% with Cosmos Policy and from 59.8% to 77.7% with Cosmos3, with the largest gains on the unseen levels. Gains persist under context-free post-training across robot embodiments. WATCH outperforms within-video pre-training and co-training baselines, supporting cross-video prediction as a scalable approach to learning transferable world-action representations.

Vision-language-action models (VLAs) have garnered significant attention for their potential in advancing robotic manipulation. However, previous approaches predominantly rely on the general comprehension capabilities of vision-language models (VLMs) to generate action signals, often overlooking the rich temporal and causal structure embedded in visual observations. In this paper, we present UniVLA, a unified and native multimodal VLA model that autoregressively models vision, language, and action signals as discrete token sequences. This formulation enables flexible multimodal tasks learning, particularly from large-scale video data. By incorporating world modeling during post-training, UniVLA captures causal dynamics from videos, facilitating effective transfer to downstream policy learning--especially for long-horizon tasks. Our approach sets new state-of-the-art results across several widely used simulation benchmarks, including CALVIN, LIBERO, and Simplenv-Bridge, significantly surpassing previous methods. For example, UniVLA achieves 95.5% average success rate on LIBERO benchmark, surpassing pi0-FAST's 85.5%. We further demonstrate its broad applicability on real-world ALOHA manipulation and autonomous driving.

Driving world action models (WAMs) learn from paired trajectories and future observations. Post-training with reinforcement learning allows the policy to explore alternative trajectories and improve planning using driving rewards. However, driving logs contain future videos only for the recorded trajectories, leaving these alternatives without corresponding visual supervision. Thus, we introduce SimVTA, a simulation-grounded post-training framework that combines trajectory optimization with video supervision. First, we sample candidate trajectories for each observation and use a real-world simulator (e.g., World Engine) to render future videos for high-reward candidates in real-world scenes reconstructed with 3D Gaussian Splatting (3DGS). This provides trajectory-matched supervision independent of the model's own predictions. Under a limited rendering budget, we prioritize video supervision for higher-error futures among these rendered candidates. Finally, we optimize trajectory planning with Group Relative Policy Optimization (GRPO) and use a flow-matching loss on the matched videos to update shared representations. At inference time, the model predicts trajectories directly, without simulator calls. On NAVSIM v1, applying SimVTA to a WAM initialization improves PDMS from 86.2 to 91.3 (+5.1). It achieves 88.2 EPDMS on NAVSIM v2 and an average HD-Score of 38.8 in closed-loop evaluation on HUGSIM. Ablations show that updating shared representations with video supervision improves planning, while prioritizing higher-error futures among high-reward trajectories further improves performance.

Vision-Language-Action (VLA) models unify perception, reasoning, and control within a single policy, yet their multi-billion-parameter backbones and diffusion-based action heads make on-device deployment prohibitively expensive. Prior quantization efforts offer only partial solutions, compressing the LLM backbone while leaving the DiT action head at full precision, or resorting to mixed-precision schemes, driven by the belief that uniformly quantizing the action head is inherently unstable. We challenge this assumption with Omega-QVLA, the first training-free post-training quantization framework that compresses both the language backbone and the entire diffusion action head of a VLA model to a uniform W4A4 precision, eliminating the need for mixed-precision allocation. Omega-QVLA combines a composite SVD-Hadamard rotation that equalizes per-channel weight energy while diffusing residual activation outliers with per-step DiT activation scaling quantization that absorbs dynamic-range drift across denoising steps. On LIBERO, Omega-QVLA compresses Pi 0.5 and GR00T N1.5 to W4A4 with 98.0% and 87.8% task success rates, matching or exceeding their FP16 references of 97.1% and 87.0%, while reducing the static memory footprint by 71.3%. Real-world manipulation experiments further confirm smooth, accurate manipulation where prior methods fail. Code is available at https://github.com/UCMP13753/Omega-QVLA.

Reinforcement learning (RL) post-training of Vision-Language-Action (VLA) models has shown strong promise for robotic manipulation. Among RL methods, critic-based approaches rely on a value estimator that predominantly operates on single-frame observations or single-frame VLM backbone latents, which is a fundamental mismatch with the partially observable nature of robot control. A naive approach to incorporate observation history into the critic incurs exponential complexity with high-dimensional visual space, and still fails because pure scalar-return regression provides insufficient supervision for learning cross-temporal dynamics. We identify the root cause as a state approximation problem: without an explicit world modeling objective, the critic's representation cannot capture the temporal structure needed for accurate value estimation. To address this, we propose the World Critic Model (WCM), built on a lightweight LeJEPA architecture; WCM jointly predicts future latent state and estimates values, such that the critic's representation is explicitly trained to capture temporal dynamics rather than merely regress scalar returns. WCM integrates seamlessly into both on-policy and off-policy training pipelines and is compatible with state-of-the-art VLA backbones including Pi0, Pi0.5, and OpenVLA-OFT. Extensive experiments on 149 tasks across four benchmarks demonstrate that WCM consistently achieves state-of-the-art performance in both in-distribution and out-of-distribution settings, with particularly strong generalization gains. We further validate WCM on seven real-world manipulation tasks using OpenVLA-OFT and Pi0.5 with off-policy RL, confirming stable deployment across diverse settings.

Large language models (LLMs) have demonstrated remarkable reasoning capabilities across diverse domains. Recent studies have shown that increasing test-time computation enhances LLMs' reasoning capabilities. This typically involves extensive sampling at inference time guided by an external LLM verifier, resulting in a two-player system. Despite external guidance, the effectiveness of this system demonstrates the potential of a single LLM to tackle complex tasks. Thus, we pose a new research problem: Can we internalize the searching capabilities to fundamentally enhance the reasoning abilities of a single LLM? This work explores an orthogonal direction focusing on post-training LLMs for autoregressive searching (i.e., an extended reasoning process with self-reflection and self-exploration of new strategies). To achieve this, we propose the Chain-of-Action-Thought (COAT) reasoning and a two-stage training paradigm: 1) a small-scale format tuning stage to internalize the COAT reasoning format and 2) a large-scale self-improvement stage leveraging reinforcement learning. Our approach results in Satori, a 7B LLM trained on open-source models and data. Extensive empirical evaluations demonstrate that Satori achieves state-of-the-art performance on mathematical reasoning benchmarks while exhibits strong generalization to out-of-domain tasks. Code, data, and models will be fully open-sourced.

Vision--language--action (VLA) models have recently shown promising performance on a variety of embodied tasks, yet they still fall short in reliability and generalization, especially when deployed across different embodiments or real-world environments. In this work, we introduce NORA-1.5, a VLA model built from the pre-trained NORA backbone by adding to it a flow-matching-based action expert. This architectural enhancement alone yields substantial performance gains, enabling NORA-1.5 to outperform NORA and several state-of-the-art VLA models across both simulated and real-world benchmarks. To further improve robustness and task success, we develop a set of reward models for post-training VLA policies. Our rewards combine (i) an action-conditioned world model (WM) that evaluates whether generated actions lead toward the desired goal, and (ii) a deviation-from-ground-truth heuristic that distinguishes good actions from poor ones. Using these reward signals, we construct preference datasets and adapt NORA-1.5 to target embodiments through direct preference optimization (DPO). Extensive evaluations show that reward-driven post-training consistently improves performance in both simulation and real-robot settings, demonstrating significant VLA model-reliability gains through simple yet effective reward models. Our findings highlight NORA-1.5 and reward-guided post-training as a viable path toward more dependable embodied agents suitable for real-world deployment.

Vision-Language-Action (VLA) policies excel in aligning language, perception, and robot control. However, most VLAs are trained purely by imitation, which overfits to demonstrations, and is brittle under distribution shift. Reinforcement learning (RL) directly optimizes task reward and thus addresses this misalignment, but real-robot interaction is expensive and conventional simulators are hard to engineer and transfer. We address both data efficiency and optimization stability in VLA post-training via a learned world model and an RL procedure tailored to flow-based action heads. Specifically, we introduce Prophet, a unified action-to-video robot actuation pretrained across large-scale, heterogeneous robot data to learn reusable action-outcome dynamics. It is able to few-shot adapt to new robots, objects, and environments, yielding a rollout-ready simulator. Upon Prophet, we reinforce action policies with Flow-action-GRPO (FA-GRPO), which adapts Flow-GRPO to operate on VLA actions, and with FlowScale, a stepwise reweighting that rescales per-step gradients in the flow head. Together, Prophet, FA-GRPO, and FlowScale constitute ProphRL, a practical, data- and compute-efficient path to VLA post-training. Experiments show 5-17% success gains on public benchmarks and 24-30% gains on real robots across different VLA variants.

World-action models aim to turn visual anticipation into driving decisions, yet typically train action experts on trajectory representations defined independently of visual dynamics. This motivates deriving action targets directly from visual motion. We first examine a simpler setting in which trajectories are reconstructed from recorded future images. Even without the need for future prediction, reconstruction captures the dominant maneuver but leaves centimeter-scale errors. We therefore introduce VITAL (Vision-Induced Tokens for Action Learning), an action tokenizer that couples a visually derived motion scaffold with a compact residual encoding the trajectory error left by that scaffold. This representation makes visual motion the principal prediction target and gives small metric corrections a separate, normalized learning scale. Using flow matching, the action expert jointly predicts both components from the current image, ego state, and navigation command, without generating future images at inference. The same residual coordinates support bounded reinforcement post-training that refines execution while keeping the predicted visual scaffold fixed. With only one action denoising step, VITAL achieves 90.8 PDMS on NAVSIM v1 navtest, within 0.13 points of its ten-step score at 3.29x the end-to-end inference speed. Without retraining, it achieves 91.1 EPDMS on NAVSIM v2 navtest and 38.6 on navhard. Project page: https://worldbench.github.io/vital

Vision-Language-Action (VLA) models enable embodied decision-making but rely heavily on imitation learning, leading to compounding errors and poor robustness under distribution shift. Reinforcement learning (RL) can mitigate these issues yet typically demands costly real-world interactions or suffers from sim-to-real gaps. We introduce VLA-RFT, a reinforcement fine-tuning framework that leverages a data-driven world model as a controllable simulator. Trained from real interaction data, the simulator predicts future visual observations conditioned on actions, allowing policy rollouts with dense, trajectory-level rewards derived from goal-achieving references. This design delivers an efficient and action-aligned learning signal, drastically lowering sample requirements. With fewer than 400 fine-tuning steps, VLA-RFT surpasses strong supervised baselines and achieves greater efficiency than simulator-based RL. Moreover, it exhibits strong robustness under perturbed conditions, sustaining stable task execution. Our results establish world-model-based RFT as a practical post-training paradigm to enhance the generalization and robustness of VLA models. For more details, please refer to https://vla-rft.github.io/.

Vision-Language-Action (VLA) models excel in robotic manipulation but are constrained by their heavy reliance on expert demonstrations, leading to demonstration bias and limiting performance. Reinforcement learning (RL) is a vital post-training strategy to overcome these limits, yet current VLA-RL methods, including group-based optimization approaches, are crippled by severe reward sparsity. Relying on binary success indicators wastes valuable information in failed trajectories, resulting in low training efficiency. To solve this, we propose Self-Referential Policy Optimization (SRPO), a novel VLA-RL framework. SRPO eliminates the need for external demonstrations or manual reward engineering by leveraging the model's own successful trajectories, generated within the current training batch, as a self-reference. This allows us to assign a progress-wise reward to failed attempts. A core innovation is the use of latent world representations to measure behavioral progress robustly. Instead of relying on raw pixels or requiring domain-specific fine-tuning, we utilize the compressed, transferable encodings from a world model's latent space. These representations naturally capture progress patterns across environments, enabling accurate, generalized trajectory comparison. Empirical evaluations on the LIBERO benchmark demonstrate SRPO's efficiency and effectiveness. Starting from a supervised baseline with 48.9% success, SRPO achieves a new state-of-the-art success rate of 99.2% in just 200 RL steps, representing a 103% relative improvement without any extra supervision. Furthermore, SRPO shows substantial robustness, achieving a 167% performance improvement on the LIBERO-Plus benchmark.

Vision-Language-Action (VLA) models have increasingly incorporated reasoning mechanisms for complex robotic manipulation. However, existing approaches share a critical limitation: whether employing explicit linguistic reasoning that suffers from latency and discretization, or utilizing more expressive continuous latent reasoning, they are predominantly confined to static imitation learning that limits adaptability and generalization. While online reinforcement learning (RL) has been introduced to VLAs to enable trial-and-error exploration, current methods exclusively optimize the vanilla action space, bypassing the underlying physical reasoning process. In this paper, we present LaST-R1, a unified VLA framework that integrates latent Chain-of-Thought (CoT) reasoning over physical dynamics prior to action execution, along with a tailored RL post-training paradigm. Specifically, we propose Latent-to-Action Policy Optimization (LAPO), a novel RL algorithm that jointly optimizes the latent reasoning process and the action generation. By bridging reasoning and control, LAPO improves the representation of physical world modeling and enhances robustness in interactive environments. Furthermore, an adaptive latent CoT mechanism is introduced to allow the policy to dynamically adjust its reasoning horizon based on environment complexity. Extensive experiments show that LaST-R1 achieves a near-perfect 99.8\% average success rate on the LIBERO benchmark with only one-shot supervised warm-up, significantly improving convergence speed and performance over prior state-of-the-art methods. In real-world deployments, LAPO post-training yields up to a 44\% improvement over the initial warm-up policy across four complex tasks, including both single-arm and dual-arm settings. Finally, LaST-R1 demonstrates strong generalization across simulated and real-world environments.

Despite the rapid progress of multimodal large language models in building Graphical User Interface (GUI) agents, their real-world task completion is fundamentally bottlenecked by a lack of world knowledge about GUI operations. Existing solutions typically rely on expensive multi-agent scaffolding or conventional post-training paradigms, such as Supervised Fine-Tuning (SFT) and Reinforcement Learning (RL). However, post-training only allows agents to implicitly absorb world knowledge through action annotations or reward signals, leading to inefficient trajectory memorization rather than genuine comprehension. Therefore, an approach that enables explicit learning of this knowledge is imperative. To this end, we propose GUI-CIDER, a mid-training method that explicitly internalizes GUI world knowledge through Causal Internalization and Density-aware Exemplar Reselection. GUI-CIDER operates in three stages: (1) data synthesis, which distills static planning and dynamic causal knowledge from GUI trajectories into text; (2) exemplar reselection, which filters the corpus by rewarding causal structures and penalizing semantic redundancy; and (3) mid-training, where the refined data is used to embed the acquired knowledge. Extensive experiments on two GUI knowledge benchmarks and three task completion benchmarks demonstrate that GUI-CIDER consistently improves both the agent's understanding of GUI operations and its task success rates.The codes are available at https://github.com/Wuzheng02/GUI-CIDER.

Robotic deployment in real-world environments depends on rich, domain-specific action data as much as on strong model architecture. General-purpose robot foundation models show modest performance in complex unseen tasks such as manipulation in a retail domain when applied out of the box. The root cause is a data gap: retail environments are structurally absent from general robot pretraining distributions, and the path to filling that gap through teleoperation is prohibitively expensive, logistically constrained, and difficult to scale. We introduce SABER, a high-fidelity retail robotics action dataset built from over 100 hours of natural in-store capture across multiple real grocery environments. Egocentric footage from head-mounted cameras records fine-grained hand activity at the point of interaction, while exocentric 360-degree scene footage from DreamVu's ALIA camera simultaneously observes all actors and activities across the entire space. This combination yields a uniquely complete picture of human retail behavior: dexterous hand activity, whole-body motion, and scene dynamics, all captured without staging, scripting, or teleoperation overhead. The SABER corpus contains 44.8K training samples across three action representation streams: 25K latent action sequences via LAPA-style encoding, 18.6K dexterous hand-pose trajectories retargeted to robot joint space, and 1.2K whole-body synchronized motion sequences retargeted to a humanoid embodiment. When applied to GR00T N1.6 via a shared-backbone multi-task post-training recipe, SABER yields a mean success rate of 29.3% across ten retail manipulation tasks -- more than 2.19x over fine-tuning baselines (13.4%). SABER demonstrates that the path to capable retail robots runs through better data, which can be collected today, at scale, without a robot in the loop. The dataset and code are available at https://dreamvu.ai/saber

Visual-language action (VLA) models enable robots to predict actions directly from observations and language instructions, but their performance depends on large-scale, high-quality data and is limited by the scarcity of real-world robot action datasets. To facilitate VLA model learning with abundant unlabeled human videos, Latent Action Models (LAM) learn latent action representations from visual dynamics to provide additional supervision for VLA learning. However, LAM and VLA are typically trained separately, leaving LAM ungrounded during VLA training and VLA models constrained by frozen LAM representations. To address these issues, we propose Latent Action Representation Alignment (LARA), a plug-and-play framework that jointly optimizes LAM and VLA via representation alignment. This enables reciprocal benefits where LAMs learn with action trajectories to avoid spurious visual changes, while VLAs are regularized by forward dynamics learned within LAMs to reduce hallucinations of functionally ineffective trajectories. We demonstrate LARA versatility and effectiveness for pre-training, post-training enhancement of pre-trained VLA models, and LAM refinement, achieving an average of ~10%, ~5%, and ~15% improvement over 3 simulation and 1 meticulously designed real-world robotic manipulation benchmarks.

As an essential modality for dexterous and contact-rich tasks, tactile sensing provides precise force feedback that cannot be reliably inferred from vision. However, limited by hardware and data collection systems, existing datasets with tactility remain small in scale and narrow in contact coverage. Meanwhile, Vision-Language-Action (VLA) models with tactile modality are constrained on dynamics-agnostic post-training, which limits the performance ceiling on downstream tasks. In this paper, we present H-Tac, a large-scale tactile-action dataset with 160-hour egocentric human videos containing more than 300 tasks and 135k episodes. Building upon this, we propose Transferable Tactile Pre-Training (TTP), a system of tactile-based pre-training on human data for fine-grained robotic tasks. To bridge the gap between humans and robots, we use unified tactile and action spaces throughout the pre-training and post-training phases, preserving prior knowledge during human-to-robot transfer. By leveraging a tactile expert for future tactile prediction, our framework explicitly models the contact dynamics and precise physical interactions. Extensive experiments in simulation and on real robots demonstrate that our model achieves superior performance, exhibiting robust generalization and fine-grained manipulation capabilities. TTP paves the way for scalable tactile pre-training via human-to-robot transfer.

Vision-Language-Action (VLA) models acquire broad embodied capabilities through large-scale pretraining, yet their generalization remains far more fragile than that of LLMs and VLMs. The prevailing remedy, post-training via supervised fine-tuning or reinforcement learning, improves task-specific performance but narrows the generalist capability that makes pretraining valuable. We identify a key bottleneck: VLA failures stem not only from action generation but also from action evaluation. A diagnostic pass@k study confirms that frozen VLAs already contain competent behaviors in their output distribution, with overall success rates rising from 33% at pass@1 to 92% at pass@32. Inspired by this, we propose SVA (Search, Value, and Act), a simple framework that equips frozen VLA policies with long-term consequence awareness. SVA first uses Monte-Carlo tree search in simulation to fully explore the VLA's output distribution and collect diverse trajectories annotated with empirical returns; this knowledge is then distilled into a lightweight Q-value model that predicts the expected consequence of candidate actions; at deployment, the frozen VLA proposes multiple candidates and the evaluator selects the one with the highest uncertainty-regularized Q-value, requiring no simulator access. By decoupling action proposal from consequence evaluation, SVA preserves the generalization capacity of the VLA backbone while substantially improving task success rates. Experiments across embodied benchmarks show that SVA consistently improves generalization on unseen tasks and exhibits strong test-time scaling behavior. Strikingly, SVA enables a 9B VLA to outperform a 27B VLA by 7 points at 27% lower inference latency, suggesting that scaling test-time evaluation is more cost-effective than scaling model size.

Reasoning in language allows foundation models to spend more test-time compute on hard problems, such as those requiring decomposition, constraint tracking, and prediction of future consequences. Whether this mechanism can improve robotic manipulation remains unclear, where long-horizon tasks require tracking partial progress, reasoning about object relations, recovering from mistakes, and steering noisy low-level policies. In this paper, we study whether VLMs can be trained to reason directly in natural language to guide low-level manipulation policies. We introduce R^3, a simple post-training recipe that turns off-the-shelf VLMs into robotic reasoners: it first mid-trains a VLM on expert-generated reasoning traces to initialize the desired reasoning style, then improves the reasoner with single-step rubric-based RL from offline action data. Unlike prior robotic reasoning methods that mostly use structured traces as auxiliary supervision, R^3 trains free-form language reasoning to produce test-time guidance for action. We instantiate R^3 on Language Table and simulated bimanual grocery packing, two controlled testbeds for studying robotic reasoning and long-horizon manipulation. R^3 improves exploration and generalization across unseen tasks and significantly outperforms instruction-only imitation learning baselines on both benchmarks. Our analyses suggest that free-form language reasoning can function as a test-time compute mechanism for steering low-level policies. Our project page is available at https://robotic-reasoner.github.io/.

Pretrained imitation policies have become a strong foundation for robot manipulation, but they often require online improvement to overcome execution errors, limited dataset coverage, and deployment mismatch. A central question is therefore how reinforcement learning (RL) should adapt policies after offline pretraining. Existing lightweight methods commonly apply residual corrections directly in action space, but this often leads to noisy and poorly structured exploration. In this work, we propose Z-Perturbation Reinforcement Learning (ZPRL), an approach that steers pretrained policies through a compact bottleneck latent rather than through policy weights or output actions. During offline training, we augment the policy with a plug-and-play variational information bottleneck (VIB) module to extract a task-relevant latent interface from observation embeddings. During online finetuning, the base policy is frozen and RL learns only a residual perturbation on this latent, whose decoded representation conditions the frozen action generator. We instantiate ZPRL on flow-matching policies and evaluate it on eight simulation tasks and four real-world tasks. Across diverse manipulation settings, ZPRL improves both sample efficiency and final performance over strong post-training baselines. In the real world, ZPRL improves the average success rate on four tasks by 33.7% over imitation base policies while producing smoother exploration behaviors than an action residual counterpart. These results suggest that a compact, task-aligned bottleneck latent provides an effective interface for online RL adaptation. More videos can be found at https://manutdmoon.github.io/ZPRL/.

Pretrained vision-language-action (VLA) models enable broad manipulation but remain unreliable in tasks demanding precision and repeatability. Applying real-world online reinforcement learning (RL) to VLA post-training enables autonomous trial-and-error improvement beyond demonstrations alone, but exposes two bottlenecks: 1) unreliable value signals can induce policy drift; 2) large-VLA overhead constrains throughput and sample efficiency. To address these challenges, we present VLA-Precision, an efficient real-world online RL framework featuring the Asymmetric Co-Bootstrapping (ACoB) algorithm and the ACoB-Stream architecture. Specifically, ACoB establishes asymmetric co-bootstrapping across timescales: early intervention-guided behavioral learning rapidly improves policy performance while enhancing online experience quality. As autonomous experience accumulates, global return propagation and local preference ranking progressively calibrate value estimates, yielding relative action advantages for reference-regularized policy improvement while suppressing drift. To enable ACoB on large VLAs, we develop ACoB-Stream, a closed-loop experience--policy architecture that establishes invariant-state decoupling and on-demand streaming as design principles, delivering up to 10.9times improvements in throughput and computational efficiency. Extensive evaluations on nine high-precision chemistry tasks across four categories and four robot embodiments show that VLA-Precision achieves 98.3\% mean success rate in 45.8 min/task, with 27.6 s episodes running at 1.2times and 1.8times the speeds of VLA and RL baselines. Resources are available at https://vla-precision.github.io.

Recent Vision-Language-Action (VLA) models built on pre-trained Vision-Language Models (VLMs) require extensive post-training, resulting in high computational overhead that limits scalability and deployment.We propose CogVLA, a Cognition-Aligned Vision-Language-Action framework that leverages instruction-driven routing and sparsification to improve both efficiency and performance. CogVLA draws inspiration from human multimodal coordination and introduces a 3-stage progressive architecture. 1) Encoder-FiLM based Aggregation Routing (EFA-Routing) injects instruction information into the vision encoder to selectively aggregate and compress dual-stream visual tokens, forming a instruction-aware latent representation. 2) Building upon this compact visual encoding, LLM-FiLM based Pruning Routing (LFP-Routing) introduces action intent into the language model by pruning instruction-irrelevant visually grounded tokens, thereby achieving token-level sparsity. 3) To ensure that compressed perception inputs can still support accurate and coherent action generation, we introduce V-L-A Coupled Attention (CAtten), which combines causal vision-language attention with bidirectional action parallel decoding. Extensive experiments on the LIBERO benchmark and real-world robotic tasks demonstrate that CogVLA achieves state-of-the-art performance with success rates of 97.4% and 70.0%, respectively, while reducing training costs by 2.5-fold and decreasing inference latency by 2.8-fold compared to OpenVLA. CogVLA is open-sourced and publicly available at https://github.com/JiuTian-VL/CogVLA.

Vision-language-action models (VLAs) have shown generalization capabilities in robotic manipulation tasks by inheriting from vision-language models (VLMs) and learning action generation. Most VLA models focus on interpreting vision and language to generate actions, whereas robots must perceive and interact within the spatial-physical world. This gap highlights the need for a comprehensive understanding of robotic-specific multisensory information, which is crucial for achieving complex and contact-rich control. To this end, we introduce a multisensory language-action (MLA) model that collaboratively perceives heterogeneous sensory modalities and predicts future multisensory objectives to facilitate physical world modeling. Specifically, to enhance perceptual representations, we propose an encoder-free multimodal alignment scheme that innovatively repurposes the large language model itself as a perception module, directly interpreting multimodal cues by aligning 2D images, 3D point clouds, and tactile tokens through positional correspondence. To further enhance MLA's understanding of physical dynamics, we design a future multisensory generation post-training strategy that enables MLA to reason about semantic, geometric, and interaction information, providing more robust conditions for action generation. For evaluation, the MLA model outperforms the previous state-of-the-art 2D and 3D VLA methods by 12% and 24% in complex, contact-rich real-world tasks, respectively, while also demonstrating improved generalization to unseen configurations. Project website: https://sites.google.com/view/open-mla

Recent Vision-Language-Action (VLA) models have made impressive progress toward general-purpose robotic manipulation by post-training large Vision-Language Models (VLMs) for action prediction. Yet most VLAs entangle perception and control in a monolithic pipeline optimized purely for action, which can erode language-conditioned grounding. In our real-world tabletop tests, policies over-grasp when the target is absent, are distracted by clutter, and overfit to background appearance. To address these issues, we propose OBEYED-VLA (OBject-centric and gEometrY groundED VLA), a framework that explicitly disentangles perceptual grounding from action reasoning. Instead of operating directly on raw RGB, OBEYED-VLA augments VLAs with a perception module that grounds multi-view inputs into task-conditioned, object-centric, and geometry-aware observations. This module includes a VLM-based object-centric grounding stage that selects task-relevant object regions across camera views, along with a complementary geometric grounding stage that emphasizes the 3D structure of these objects over their appearance. The resulting grounded views are then fed to a pretrained VLA policy, which we fine-tune exclusively on single-object demonstrations collected without environmental clutter or non-target objects. On a real-world UR10e tabletop setup, OBEYED-VLA substantially improves robustness over strong VLA baselines across four challenging regimes and multiple difficulty levels: distractor objects, absent-target rejection, background appearance changes, and cluttered manipulation of unseen objects. Ablation studies confirm that both semantic grounding and geometry-aware grounding are critical to these gains. Overall, the results indicate that making perception an explicit, object-centric component is an effective way to strengthen and generalize VLA-based robotic manipulation.

World models enable planning in imagined future predicted space, offering a promising framework for embodied navigation. However, existing navigation world models often lack action-conditioned consistency, so visually plausible predictions can still drift under multi-step rollout and degrade planning. Moreover, efficient deployment requires few-step diffusion inference, but existing distillation methods do not explicitly preserve rollout consistency, creating a training-inference mismatch. To address these challenges, we propose MWM, a mobile world model for planning-based image-goal navigation. Specifically, we introduce a two-stage training framework that combines structure pretraining with Action-Conditioned Consistency (ACC) post-training to improve action-conditioned rollout consistency. We further introduce Inference-Consistent State Distillation (ICSD) for few-step diffusion distillation with improved rollout consistency. Our experiments on benchmark and real-world tasks demonstrate consistent gains in visual fidelity, trajectory accuracy, planning success, and inference efficiency. Code: https://github.com/AIGeeksGroup/MWM. Website: https://aigeeksgroup.github.io/MWM.

Lifelong learning is critical for embodied agents in open-world environments, where reinforcement learning fine-tuning has emerged as an important paradigm to enable Vision-Language-Action (VLA) models to master dexterous manipulation through environmental interaction. Thus, Continual Reinforcement Learning (CRL) is a promising pathway for deploying VLA models in lifelong robotic scenarios, yet balancing stability (retaining old skills) and plasticity (learning new ones) remains a formidable challenge for existing methods. We introduce CRL-VLA, a framework for continual post-training of VLA models with rigorous theoretical bounds. We derive a unified performance bound linking the stability-plasticity trade-off to goal-conditioned advantage magnitude, scaled by policy divergence. CRL-VLA resolves this dilemma via asymmetric regulation: constraining advantage magnitudes on prior tasks while enabling controlled growth on new tasks. This is realized through a simple but effective dual-critic architecture with novel Goal-Conditioned Value Formulation (GCVF), where a frozen critic anchors semantic consistency and a trainable estimator drives adaptation. Experiments on the LIBERO benchmark demonstrate that CRL-VLA effectively harmonizes these conflicting objectives, outperforming baselines in both anti-forgetting and forward adaptation.

Long-horizon action-conditioned video generation aims to synthesize temporally coherent videos that follow complex action instructions over extended horizons, requiring procedural ordering, persistent action execution, and scene consistency beyond conventional TI2V's short-term fidelity. Existing single-shot video generation models typically operate in an open-loop manner, leading to incomplete action execution, hallucinated motions, and temporal drift. To address this, we propose SPIRAL, a closed-loop framework that performs sequential planning and iterative reflection for action-conditioned long-horizon video generation. Specifically, SPIRAL instantiates a think-act-reflect process: a PlanAgent decomposes high-level goals into sub-actions, which condition a VideoGenerator to synthesize each segment alongside a memory context, while a CriticAgent evaluates intermediate video segments to provide corrective feedback for iterative refinement. This closed-loop design further supports self-evolution by utilizing PlanAgent-proposed actions and CriticAgent-derived rewards for GRPO-based post-training to enhance the video generator's long-horizon consistency. Moreover, we introduce ActVideoGen-Dataset for task-specific training, and establish ActVideoGen-Bench as a dedicated evaluation suite for measuring action quality and temporal coherence. Experiments across multiple TI2V backbones alongside the self-evolving strategy show consistent gains on ActVideoGen-Bench and VBench, demonstrating the effectiveness of SPIRAL.

Vision-language-action models (VLAs) inherit semantic capabilities from pretrained VLMs, yet large-scale post-training on robot data and architectural modifications can reshape the backbone so extensively that it becomes difficult to isolate what the VLM contributes to control. Directly converting pretrained VLMs into VLAs with minimal architectural change offers a more transparent path to understanding how VLM capabilities transfer across model scales. The core obstacle is output-distribution mismatch: predicting actions as bare numeric token sequences moves generation away from the VLM's pretrained language distribution, degrading the capabilities we seek to preserve. To address this, we propose CLAP (Causal Language-Action Prediction), which prepends each numeric action sequence with a natural-language action description, causally conditioning precise action-token prediction on a language-action plan without modifying the backbone architecture. With single-epoch fine-tuning alone, 2B CLAP achieves 90.8% on LIBERO (+14.9 pt over VLA-0) and improves robustness on LIBERO-PRO under language, object, and spatial perturbations. We will release CLAP at 0.8B, 2B, and 4B as an open-weight, multi-scale compact VLA family from a single VLM lineage, enabling controlled analysis of VLM-to-VLA capability transfer.

We introduce Being-H0, a dexterous Vision-Language-Action model (VLA) trained on large-scale human videos. Existing VLAs struggle with complex manipulation tasks requiring high dexterity and generalize poorly to novel scenarios and tasks, primarily due to their reliance on synthetic data with significant sim-to-real gaps or teleoperated demonstrations lacking scale and diversity. To address this data bottleneck, we propose leveraging human hands as a foundation manipulator, capitalizing on the rich dexterity and scalability present in web data. Our approach centers on physical instruction tuning, a novel training paradigm that combines large-scale VLA pretraining from human videos, physical space alignment for 3D reasoning, and post-training adaptation for robotic tasks. Additionally, we introduce a part-level motion tokenization method which achieves millimeter-level reconstruction accuracy to model precise hand trajectories for action learning. To support our proposed paradigm, we further develop a comprehensive data curation pipeline that integrates heterogeneous sources -- including motion capture, VR, and RGB-only videos -- into a large-scale dataset with millions of motion-based instructional instances. We empirically show the excellence of Being-H0 in hand motion generation and instruction following, and it also scales well with model and data sizes. Importantly, we observe the expected gains of Being-H0 in real-world robotic manipulation as physical instruction tuning is applied. More details are available at https://beingbeyond.github.io/Being-H0.

Although pre-trained Vision-Language-Action (VLA) models exhibit impressive generalization in robotic manipulation, post-training remains crucial to ensure reliable performance during deployment. However, standard offline Supervised Fine-Tuning (SFT) suffers from distribution shifts and catastrophic forgetting of pre-trained capabilities, while online Reinforcement Learning (RL) struggles with sparse rewards and poor sample efficiency. In this paper, we propose On-Policy VLA Distillation (VLA-OPD), a framework bridging the efficiency of SFT with the robustness of RL. Instead of relying on sparse environmental rewards, VLA-OPD leverages an expert teacher to provide dense, token-level supervision on the student's self-generated trajectories. This enables active error correction on policy-induced states while preserving pre-trained general capabilities through gentle alignment. Crucially, we formulate VLA-OPD via a Reverse-KL objective. Unlike standard Forward-KL that induces mode-covering entropy explosion, or Hard-CE that causes premature entropy collapse, our bounded mode-seeking objective ensures stable policy learning by filtering out the teacher's epistemic uncertainty while maintaining action diversity. Experiments on LIBERO and RoboTwin2.0 benchmarks demonstrate that VLA-OPD significantly improves sample efficiency over RL and robustness over SFT, while effectively mitigating catastrophic forgetting during post-training.

Moving beyond the traditional paradigm of adapting internet-pretrained models to physical tasks, we present DM0, an Embodied-Native Vision-Language-Action (VLA) framework designed for Physical AI. Unlike approaches that treat physical grounding as a fine-tuning afterthought, DM0 unifies embodied manipulation and navigation by learning from heterogeneous data sources from the onset. Our methodology follows a comprehensive three-stage pipeline: Pretraining, Mid-Training, and Post-Training. First, we conduct large-scale unified pretraining on the Vision-Language Model (VLM) using diverse corpora--seamlessly integrating web text, autonomous driving scenarios, and embodied interaction logs-to jointly acquire semantic knowledge and physical priors. Subsequently, we build a flow-matching action expert atop the VLM. To reconcile high-level reasoning with low-level control, DM0 employs a hybrid training strategy: for embodied data, gradients from the action expert are not backpropagated to the VLM to preserve generalized representations, while the VLM remains trainable on non-embodied data. Furthermore, we introduce an Embodied Spatial Scaffolding strategy to construct spatial Chain-of-Thought (CoT) reasoning, effectively constraining the action solution space. Experiments on the RoboChallenge benchmark demonstrate that DM0 achieves state-of-the-art performance in both Specialist and Generalist settings on Table30.

Vision-Language-Action (VLA) models generalize semantically well but often lack fine-grained modeling of world dynamics. We present MotuBrain, a unified World Action Model that jointly models video and action under a UniDiffuser formulation with a three-stream Mixture-of-Transformers architecture. A single model supports policy learning, world modeling, video generation, inverse dynamics, and joint video-action prediction, while scaling to heterogeneous multimodal data such as video-only, task-agnostic, and cross-embodiment robot data. Building on Motus, MotuBrain further introduces unified multiview modeling, an independent text stream for stronger language-action coupling, a shared cross-embodiment action representation, and an efficient post-training and deployment recipe for long-horizon real-world control. Our inference stack combines step reduction, compilation, FP8 quantization, DiT caching, V2A-style action-only inference, and real-time chunked closed-loop execution, achieving over 50x speedup over a naive baseline and up to 11 Hz inference. Experimentally, MotuBrain achieves 95.8% and 96.1% average success on RoboTwin 2.0 under clean and randomized settings, respectively, attains the strongest reported EWMScore in our WorldArena comparison, and adapts to new humanoid embodiments with only 50--100 trajectories. These results show that unified world action models can scale in generality, predictive accuracy, and real-world deployability.

Artificial general intelligence ultimately requires agents that can reason and act in the physical world. Action models, vision-language-action policies, and world models have advanced this goal, while World Action Models (WAMs) are particularly promising because they connect candidate interventions with predicted consequences. However, progress remains fragmented: models use incompatible action spaces and prediction targets, datasets and tasks follow different conventions, and runtime systems expose limited interfaces for reuse and evaluation. We review the evolution toward WAMs and organize these limitations into three coupled gaps: model roles and representations, objectives and standardization, and system composition. Building on this analysis, we propose a co-evolution roadmap for physical intelligence centered on the embodied brain, a long-term model target for integrating multimodal context, comparing candidate interventions, and issuing state-transition or capability requests rather than direct actuator commands. WAMs provide promising prototypes for its predictive functions, while a physical harness grounds model outputs through tools, controllers, verification, and trace logging. Shared contracts align heterogeneous models, data, tasks, and embodiments, and closed-loop post-training converts verified interaction into reusable experience. Together, these components define a modular physical-intelligence stack for adaptive and self-improving embodied agents.

Vision-language-action (VLA) models perform well on shorter-horizon manipulation tasks but still struggle with long-horizon tasks that require multiple dependent manipulations from a single command. Online reinforcement learning (RL) can improve these policies through environment interaction, yet many existing methods provide reward only after the complete task succeeds. However, such terminal supervision is sparse and does not distinguish early failures from rollouts that make substantial partial progress. We propose StructRL, an online RL framework that constructs structured intermediate supervision from verifiable subtask completions. StructRL decomposes each task into verifiable subtasks, grants intermediate rewards only after the prerequisite subtasks have been completed, and scales each reward according to completion pace. Across RoboCasa365 and LIBERO-Long with GR00T-N1.5 and pi 0.5, StructRL consistently outperforms evaluated online RL baselines. These results show that verifiable, structured intermediate rewards improve long-horizon VLA post-training. Code is available at https://github.com/amazon-science/StructRL.

Vision-Language-Action (VLA) models have shown impressive capabilities across a wide range of robotics manipulation tasks. However, their growing model size poses significant challenges for deployment on resource-constrained robotic systems. While 1-bit pretraining has proven effective for enhancing the inference efficiency of large language models with minimal performance loss, its application to VLA models remains underexplored. In this work, we present BitVLA, the first 1-bit VLA model for robotics manipulation, in which every parameter is ternary, i.e., {-1, 0, 1}. To further reduce the memory footprint of the vision encoder, we propose the distillation-aware training strategy that compresses the full-precision encoder to 1.58-bit weights. During this process, a full-precision encoder serves as a teacher model to better align latent representations. Despite the lack of large-scale robotics pretraining, BitVLA achieves performance comparable to the state-of-the-art model OpenVLA-OFT with 4-bit post-training quantization on the LIBERO benchmark, while consuming only 29.8% of the memory. These results highlight BitVLA's promise for deployment on memory-constrained edge devices. We release the code and model weights in https://github.com/ustcwhy/BitVLA.

Vision-language-action (VLA) models are effective robot action executors, but they remain limited on long-horizon tasks due to the dual burden of extended closed-loop planning and diverse physical operations. We therefore propose VLAs-as-Tools, a strategy that distributes this burden across a high-level vision language model (VLM) agent for temporal reasoning and a family of specialized VLA tools for diverse local physical operations. The VLM handles scene analysis, global planning, and recovery, while each VLA tool executes a bounded subtask. To tightly couple agent planning with VLA tool execution in long-horizon tasks, we introduce a VLA tool-family interface that exposes explicit tool selection and in-execution progress feedback, enabling efficient event-triggered agent replanning without continuous agent polling. To obtain diverse specialized VLA tools that faithfully follow agent invocations, we further propose Tool-Aligned Post-Training (TAPT), which constructs invocation-aligned training units for instruction following and adopts tool-family residual adapters for efficient tool specialization. Experiments show that VLAs-as-Tools improves the success rate of π_{0.5} by 4.8 points on LIBERO-Long and 23.1 points on RoboTwin, and further enhances invocation fidelity by 15.0 points as measured by Non-biased Rate. Code will be released.

World Action Models (WAMs) model future environment evolution under action conditioning, offering a scalable paradigm for autonomous driving. However, existing approaches focus largely on model architecture design, and how a WAM can efficiently learn better world representations for planning remains underexplored. To address this gap, we propose ReWorld, the first representation learning framework specifically designed for autonomous-driving world action models. In WAMs, standard training supervises only the output ends of the generation and planning modules, leaving the intermediate representations that carry world knowledge to be shaped only indirectly, as byproducts of fitting these outputs. The core idea of ReWorld is to treat intermediate representations as direct targets of optimization, shaping them along three complementary dimensions. On the Video DiT responsible for generation, we impose future-predictive supervision on its intermediate representations. On the Action DiT responsible for planning, we first align its intermediate representations cross-modally with the video world representation, then further shape them to be discriminative around safety-critical boundaries via hard-negative supervision. In addition, we systematically analyze the effectiveness of existing representation learning methods in video generation world models, and discuss why their performance is limited on this task. Experiments on nuScenes and NAVSIM show that ReWorld improves fine-tuned video generation by 23.9% in FVD (81.3 to 61.9), raises closed-loop PDMS from 89.1 to 90.4 without any post-training such as RL or post-processing, and accelerates from-scratch convergence by approximately 2x.

Visual goal and dynamics prediction can provide language-conditioned robot policies with both a target outcome and a representation of action-dependent scene changes. We bring these predictions into action generation and selection through a shared trajectory model. Dynin-Robotics implements this formulation on Dynin-Omni, an omnimodal masked-diffusion backbone, representing language, visual observations, goals, and actions as discrete tokens. By varying conditioning and target spans, the same model learns action prediction, action-conditioned next-observation prediction, terminal goal-state prediction, and trajectory-to-instruction reconstruction. These interfaces support test-time scaling through goal prediction, action-candidate evaluation, and joint refinement of action and future-state predictions. We continually pretrain the model on approximately 1.33 million trajectories from 48 Open X-Embodiment datasets and adapt it separately to downstream domains. On two VLABench tasks, robot pretraining improves adaptation within a fixed Stage-2 step budget, and the full objective mixture improves shifted-instruction success over Policy-only post-training under the same coupled decoder. Combining goal guidance with joint action-next-state denoising further improves shifted-instruction success over action-only decoding; the benefit depends on how the predictions are composed. Dynin-Robotics achieves competitive performance on LIBERO and zero-shot LIBERO-Plus, together with a 78.4% average success rate across four manipulation conditions on a Franka Research 3 robot. An optimized block-parallel implementation accelerates model-side action decoding by up to 29.2x relative to the base implementation under the reported profiling setup. These results support shared trajectory modeling as a common interface for learning complementary robot objectives and composing their predictions during control.

Due to their ability of follow natural language instructions, vision-language-action (VLA) models are increasingly prevalent in the embodied AI arena, following the widespread success of their precursors -- LLMs and VLMs. In this paper, we discuss 10 principal milestones in the ongoing development of VLA models -- multimodality, reasoning, data, evaluation, cross-robot action generalization, efficiency, whole-body coordination, safety, agents, and coordination with humans. Furthermore, we discuss the emerging trends of using spatial understanding, modeling world dynamics, post training, and data synthesis -- all aiming to reach these milestones. Through these discussions, we hope to bring attention to the research avenues that may accelerate the development of VLA models into wider acceptability.

Vision-Language-Action (VLA) models provide a unified paradigm for robotic manipulation, yet their real-world deployment is often bottlenecked by execution efficiency. While existing efforts predominantly focus on compute-centric efficiency to reduce per-step inference latency, the intrinsic policy efficiency of these models remains largely unexplored. Policy efficiency is fundamentally affected by two factors, namely the effective executable length of predicted action chunks and the total physical steps required to complete a task. These two factors jointly determine the total number of forward inference calls during execution. We observe that current VLA policies struggle with planning unreliability and action redundancy, suffering from severe prediction degradation at the tail of action chunks and tending to generate unnecessarily redundant physical steps. To address this, we propose PolicyTrim, a reinforcement learning-based post-training framework that extends the reliable action chunk length and reduces redundant physical steps. For reliable chunk extension, we employ a dynamic exploration strategy that explicitly rewards the successful completion of longer executable lengths, progressively pushing the trustworthy prediction horizon to its empirical limit. For step efficiency, we design a redundancy-aware reward that directly favors successful task completions with fewer steps while penalizing unreproducible shortcuts, effectively eliminating redundant physical actions. Extensive experiments across three benchmarks and three VLA models demonstrate that PolicyTrim improves action chunk utilization by 3times and reduces physical execution steps by 51.4\%. Ultimately, our framework delivers up to a 5.83times end-to-end deployment speedup without compromising task success rates.

Mainstream World-Action Models (WAMs) adapt pretrained video generation models (VGMs) for robot control, transferring their learned dynamics prior for action prediction. These VGMs are typically trained in a variational autoencoder (VAE) latent space. However, the VAE latent space is optimized for pixel reconstruction, which rewards fine appearance detail and leaves the action prediction fragile under visual shifts. Recent works build WAMs in semantic latent space, which are more robust to appearance shifts. However, these models cannot leverage the large-scale VGM pretraining that exists only in VAE space. To overcome this dilemma, we propose Robust-WAM, a general post-training method for video-generation-based WAMs that preserves the VAE-based generative path and adds a lightweight semantic foresight alignment objective on the action stream. This retains the large-scale VGM pretraining while grounding actions in appearance-invariant dynamics that stay reliable under illumination shifts and other visual out-of-distribution conditions. Specifically, we employ learnable query tokens to bring future-scene semantics into the action stream by aligning their output hidden states with the semantic foresight of future ground-truth frames. To establish the temporal correspondence between each query and the future step it describes, we give it the positional encoding of the matching action tokens. Experiments on out-of-distribution generalization simulation benchmarks and a real-robot setup show that our Robust-WAM consistently improves the success rates of multiple WAM baselines without sacrificing in-distribution performance.

Existing Vision-Language-Action (VLA) models often suffer from feature collapse and low training efficiency because they entangle high-level perception with sparse, embodiment-specific action supervision. Since these models typically rely on VLM backbones optimized for Visual Question Answering (VQA), they excel at semantic identification but often overlook subtle 3D state variations that dictate distinct action patterns. To resolve these misalignments, we propose Pose-VLA, a decoupled paradigm that separates VLA training into a pre-training phase for extracting universal 3D spatial priors in a unified camera-centric space, and a post-training phase for efficient embodiment alignment within robot-specific action space. By introducing discrete pose tokens as a universal representation, Pose-VLA seamlessly integrates spatial grounding from diverse 3D datasets with geometry-level trajectories from robotic demonstrations. Our framework follows a two-stage pre-training pipeline, establishing fundamental spatial grounding via poses followed by motion alignment through trajectory supervision. Extensive evaluations demonstrate that Pose-VLA achieves state-of-the-art results on RoboTwin 2.0 with a 79.5% average success rate and competitive performance on LIBERO at 96.0%. Real-world experiments further showcase robust generalization across diverse objects using only 100 demonstrations per task, validating the efficiency of our pre-training paradigm.

To build a generalizable Vision-Language-Action (VLA) model with strong reasoning ability, a common strategy is to first train a specialist VLA on robot demonstrations to acquire reliable manipulation skills, and then incorporate mixed annotated robot data together with multimodal data to restore broader reasoning capabilities. However, we observe that the resulting reasoning VLA often suffers from degraded action performance compared to the specialist model before fine-tuning, a phenomenon we refer to as action degeneration. To address this issue, we propose DualVLA, which enhances action performance through carefully designed post-training while still preserving reasoning capability. We first introduce a dual-layer data pruning method that removes redundant embodied reasoning, preventing it from adversely influencing action learning. To further strengthen action generation, we design a dual-teacher adaptive distillation strategy that assigns different supervision signals to different data domains while maintaining reasoning ability. To fill the evaluation gap for generalist VLAs, we also propose VLA Score, which decouples VLA capability into reasoning, intention, action, and alignment dimensions for a more fine-grained assessment. Experiments show that DualVLA achieves an average success rate of 61.0 in SimplerEnv and an average score of 65.4 across eight competitive multimodal benchmarks, demonstrating a stronger balance between precise action execution and multimodal understanding. Project Website: https://costaliya.github.io/DualVLA/.

In this report, we present Hy-Embodied-0.5-VLA, abbreviated as HyVLA-0.5, an end-to-end system that spans the full robot learning stack: data collection, model design, continued pre-training and supervised fine-tuning, RL post-training, and real-world deployment. Each component serves a distinct role in this stack.

The prevailing recipe for Vision-Language-Action (VLA) models couples a pretrained VLM with a separately trained flow-matching action expert. This makes the VLM a context encoder rather than a decision-maker. We introduce G0.5, a pretrained autoregressive VLA in which a single transformer decoder emits reasoning and action tokens under a single objective. Three components make this tractable at foundation-model scale: a learnable cross-embodiment action tokenizer that maps heterogeneous robot actions into a shared vocabulary; a native chain-of-thought stream interleaving task decomposition, object grounding, and action hints with action tokens; and a visual memory module that injects multi-second history through the vision encoder. Because reasoning and action share a single set of weights, the pretrained VLM's capabilities carry over to physical behavior: the model follows instructions closely, and prompts directly steer action granularity, task horizon, and out-of-distribution scene handling without further training. Pretrained on a large collection of robot datasets together with VQA samples, G0.5 surpasses state-of-the-art models across 7 independent regimes: real-world fine-tuning on R1lite and R1pro robots (76.7\% vs.\ 53.3\% for π_{0.5} and 24.4\% for GR00T-N1.7), the 2025 BEHAVIOR Challenge on 50 long-horizon household mobile manipulation tasks using a generalist policy (31.4\% vs.\ 26.3\% for π_{0.5} and 26.1\% for the challenge winner), DROID post-training followed by zero-shot transfer to an unseen environment and objects (82.5\%), a language-following Pick-and-Place benchmark, LIBERO (98.9\%), RoboTwin 2.0 (93.3\%), and SimplerEnv-Bridge (87.3\%).

Action-conditioned robot world models generate future video frames of the manipulated scene given a robot action sequence, offering a promising alternative for simulating tasks that are difficult to model with traditional physics engines. However, these models are optimized for short-term prediction and break down when deployed autoregressively: each predicted clip feeds back as context for the next, causing errors to compound and visual quality to rapidly degrade. We address this through the following contributions. First, we introduce a reinforcement learning (RL) post-training scheme that trains the world model on its own autoregressive rollouts rather than on ground-truth histories. We achieve this by adapting a recent contrastive RL objective for diffusion models to our setting and show that its convergence guarantees carry over exactly. Second, we design a training protocol that generates and compares multiple candidate variable-length futures from the same rollout state, reinforcing higher-fidelity predictions over lower-fidelity ones. Third, we develop efficient, multi-view visual fidelity rewards that combine complementary perceptual metrics across camera views and are aggregated at the clip level for dense, low-variance training signal. Fourth, we show that our approach establishes a new state-of-the-art for rollout fidelity on the DROID dataset, outperforming the strongest baseline on all metrics (e.g., LPIPS reduced by 14% on external cameras, SSIM improved by 9.1% on the wrist camera), winning 98% of paired comparisons, and achieving an 80% preference rate in a blind human study.

Small language models (SLMs) offer compelling advantages in cost, latency, and adaptability, but have so far lagged behind larger models on long-horizon software engineering tasks such as SWE-bench, where they suffer from pervasive action looping and low resolution rates. We introduce SWE-Protégé, a post-training framework that reframes software repair as an expert-protégé collaboration problem. In SWE-Protégé, an SLM remains the sole decision-maker while learning to selectively seek guidance from a strong expert model, recognize stalled states, and follow through on expert feedback. Our approach combines supervised fine-tuning on expert-augmented trajectories with agentic reinforcement learning that explicitly discourages degenerative looping and unproductive expert collaboration. We lightly post-train Qwen2.5-Coder-7B-Instruct to achieve 42.4% Pass@1 on SWE-bench Verified, a +25.4% improvement over the prior SLM state of the art, while using expert assistance sparsely (~4 calls per task and 11% of total tokens).

Being able to simulate the outcomes of actions in varied environments will revolutionize the development of generalist agents at scale. However, modeling these world dynamics, especially for dexterous robotics tasks, poses significant challenges due to limited data coverage and scarce action labels. As an endeavor towards this end, we introduce DreamDojo, a foundation world model that learns diverse interactions and dexterous controls from 44k hours of egocentric human videos. Our data mixture represents the largest video dataset to date for world model pretraining, spanning a wide range of daily scenarios with diverse objects and skills. To address the scarcity of action labels, we introduce continuous latent actions as unified proxy actions, enhancing interaction knowledge transfer from unlabeled videos. After post-training on small-scale target robot data, DreamDojo demonstrates a strong understanding of physics and precise action controllability. We also devise a distillation pipeline that accelerates DreamDojo to a real-time speed of 10.81 FPS and further improves context consistency. Our work enables several important applications based on generative world models, including live teleoperation, policy evaluation, and model-based planning. Systematic evaluation on multiple challenging out-of-distribution (OOD) benchmarks verifies the significance of our method for simulating open-world, contact-rich tasks, paving the way for general-purpose robot world models.

Interactive video world models are essential for long-horizon planning and exploration, yet they suffer from compounding errors. Post-training methods such as reinforcement learning (RL) can improve these models, but they hit a verification bottleneck: for arbitrary action sequences, no ground-truth future state exists to measure long-term drift. Our key insight is that reversible action cycles make this verification possible: a sequence composed with its inverse must analytically return to the initial state, yielding annotation-free supervision on long-horizon correctness. Building on this, we introduce WorldCycle, a self-verifiable RL framework that constructs closed action cycles and their repeated executions from ordinary action sequences, and optimizes two complementary rewards: a spatial closure reward enforcing symmetry between mirrored forward and reverse segments, and a temporal consistency reward aligning states across repeated cycle executions. These rewards force the model to learn actions as consistent state operators rather than memorized temporal patterns, and extend naturally to out-of-distribution composite action cycles that the base model handles poorly. We further release CycleBench, a diagnostic benchmark for state-returning ability under complex action structures. WorldCycle reduces state returning drift by up to 44% and lifts composite-action accuracy nearly 4x over the base model, providing a vital foundation for physically grounded world models.

Post-training Large Language Models (LLMs) with Reinforcement Learning (RL) has become an important tool for improving model capabilities, but the LLM action-space structure introduces challenges distinct from classical RL, with implications for inducing exploration. New methods are required that leverage the broad knowledge and flexibility of pre-trained LLMs to deliberately generate diverse experience at training time. We propose Instruction-Conditioned Exploration (ICE), which appends one of a small fixed set of instructions to task prompts during training, using the same set for every problem, increasing the coverage of behaviours attempted. To facilitate ICE, we combine RL on the instruction-conditioned policy with self-distillation of its correct rollouts into the unconditioned test-time policy. ICE with this objective improves Qwen3-1.7B held-out pass@1 performance at 4K response length on mathematical reasoning tasks by 5.0% relative to training with DAPO, with improvement persisting at a longer 8K context. The improvement does not appear for Qwen3-4B at 4K, where the instructions do not expand base-model coverage.

Human interventions provide crucial corrective signals for post-training Vision-Language-Action (VLA) models. However, enabling seamless humanoid interventions is a formidable systems challenge due to complex whole-body kinematics and dexterous-hand control. Consequently, the collected intervention trajectories are often suboptimal, and methods that rely on human interventions as expert supervision can absorb hesitant, inefficient, or even erroneous behaviors. To address both the system and algorithmic challenges, we propose ROVE, a reinforcement learning framework for humanoid VLA post-training with imperfect human interventions. First, ROVE introduces a human-in-the-loop pipeline capable of collecting deployment and intervention data for humanoid manipulation. Second, it utilizes Optimistic Value Estimation (OVE) to prioritize high-value behaviors from mixed-quality trajectories. To further robustify value estimation, we incorporate cross-embodiment human experience videos to provide rich supervision for long-tailed failure and recovery modes. The resulting critic yields informative advantage signals, steering the VLA actor to focus on high-value behaviors rather than indiscriminately imitating all actions. On challenging real-world contact-rich and fine-grained humanoid manipulation tasks, ROVE outperforms experience-learning baselines and consistently improves across multiple rollout-intervention iterations.

Camera-conditioned world models generate interactive videos in which commanded actions should induce the expected scene changes while appearance, geometry, and temporal dynamics remain coherent. Existing rewards assess these requirements separately: geometry-based rewards estimate trajectory execution but cannot judge the visual quality of the executed motion, whereas image-based rewards measure frame quality without capturing action execution or temporal dynamics. We posit that a vision-language model (VLM) offers a shared reasoning space for relating actions to their visual outcomes. However, judging a complete long video against its full action sequence creates a lengthy, noisy context in which short-lived local action evidence can be missed or diluted. We present WorldReward, a VLM-based pairwise preference reward model that unifies action-consistency and visual-quality evaluation for camera-conditioned world models. WorldReward decomposes paired videos into action-aligned chunks, organizes each chunk into structured visual evidence, and aggregates chunk-level decisions by voting into separate video-level action and visual-quality preferences. To train it, we construct a large-scale reasoning-augmented preference dataset using structured judgments generated by a frontier VLM and refined through tool-based agent auditing and targeted human review. We further introduce WorldReward-Bench, a human-annotated benchmark measuring reward-model agreement with human preferences across action consistency, appearance quality, and motion quality. WorldReward achieves the highest agreement on all three dimensions, exceeding GPT-5.5 by 3.42, 1.45, and 3.56 percentage points, respectively. When used for RL post-training of HY-WorldPlay 1.5, it consistently improves both action execution and visual quality across short- to long-term horizons.

The capabilities of an agent swarm depend on both its individual members and how they coordinate. Yet existing multi-agent systems often train agents within fixed orchestration structures, separating the learning of individual capabilities from the organization of collective behavior. We introduce market-based post-training (MPT), a framework for jointly learning action policies and self-orchestration in decentralized agent swarms. Agents express their willingness to participate through bids, which determine who acts and how collective outcomes provide local training credit. Learning both action and bidding behavior allows individual capabilities and patterns of participation to adapt together without a central coordinating agent. We evaluate MPT on embodied crafting, robot navigation, and deep research. Results show gains over monolithic post-training and confirm that agent participation indeed evolves with learning. With the same post-trained action policies, learned self-orchestration outperforms alternative coordination strategies. Ablations show that both action and bidding benefit from learning, and that learned bids provide more effective action-training signals. Beyond the original training objectives, trained swarms adapt faster to related tasks and achieve better performance with larger populations at inference time. Larger populations also suffer smaller performance losses under agent dropout, demonstrating that learned self-orchestration supports reuse, scaling, and robustness in decentralized agent swarms. Code and trained models are available at https://github.com/Embodied-Minds-Lab/MPT.

Reinforcement learning (RL) is increasingly used to post-train vision-language-action (VLA) models, but every update consumes robot rollouts that are slow and costly to collect, making sample efficiency a central concern. Manipulation tasks typically provide only sparse rewards, so a weak policy fails almost every rollout early in training and has little to learn from, even when those failures execute coherent behavior. Such a failure, however, is a success at a different task. We present Learning from Hindsight (LfH), which brings hindsight relabeling to RL post-training of VLAs by scoring failed rollouts against the tasks they actually achieved. A single vision-language model relabels both the instruction and the reward, proposing a hindsight instruction for a group of failed rollouts and scoring how well each satisfies it, and the policy trains on the relabeled and original rollouts jointly. Because VLAs generalize across language, relabeling in language lets the policy learn more from the same trajectories. On out-of-distribution LIBERO-PRO tasks, where standard RL improves only slowly, LfH achieves 5times improvement in sample efficiency, and outperforms a dense progress-reward baseline. The gains hold across VLA backbones and on a physical Franka robot.

World models endow perceptual systems with the ability to predict how scenes evolve under interaction. They are most beneficial when trained on diverse volumes of data, to instill a rich prior into downstream applications. Existing methods typically require robot action labels to learn action-conditioned 3D dynamics, which excludes web video data from the training pool. We study 3D point track completion as a pre-training objective for learning transferable 3D dynamics without robot data. Given a single RGB-D observation and sparse partial 3D trajectories (tracks), we predict future 3D tracks of all observed points. We show this objective produces a rich 3D dynamics prior, without requiring robot action labels. We contribute a diverse dataset of 2.9 million synthetic frames spanning deformable, articulated, and rigid objects, and use it to train PointZero. We show that a flexible and expressive transformer, PointZero, outperforms prior methods on the same data. We demonstrate the utility of our pre-training objective by post-training PointZero for two downstream applications: (1) action-conditioned 3D dynamics prediction and (2) imitation learning. When fine-tuned to condition on end-effector pose, PointZero outperforms the baselines on the recent PGND 3D dynamics benchmark. When fine-tuned to predict robot actions and 3D tracks, PointZero outperforms or matches the baselines on 6/7 simulated and real-world robot manipulation tasks. We furthermore evaluate training PointZero from scratch to isolate the benefits of our proposed architecture from those of our proposed pre-training objective and dataset. We release the dataset, checkpoints, and full training recipe.

Real-world robotic assembly at sub-millimeter tolerances demands spatial precision, compliant interaction, and robustness to contact failures. We present Facet-0, a robotic foundation model that predicts and values the contact consequences of its actions. Facet-0 unifies multimodal representation learning and reinforcement learning (RL) post-training around a joint action-wrench proposal: a causal wrench history is aligned with vision-language semantics and kinematic state, and flow matching generates each action chunk together with the future wrist-wrench profile it is expected to induce. Deployment rollouts train a distributional Action-Wrench Critic to distinguish motions with similar task progress but different contact outcomes, while phase-aware rewards and contact-selective credit concentrate policy improvement on decisive interactions. To accommodate part-specific dynamics, a lightweight bounded actor reuses the frozen representation for on-robot adaptation; RL remains defined over executable Cartesian actions, while an auxiliary wrench head preserves predictive, non-commanded action-contact coupling. Trained on ManuFacet-1K, a 1,000-hour force-synchronized corpus spanning three embodiments and multiple manufacturing cells, the bounded task-adapted system reaches 82% mean success on five sub-millimeter computer-assembly tasks, compared with 15% for the strongest baseline, with 0.5 mm placement accuracy and 50 ms command latency.

Out-of-distribution (OOD) scenarios in autonomous driving pose critical challenges, as planners often fail to generalize beyond their training experience, leading to unsafe or unexpected behavior. Vision-Language Models (VLMs) have shown promise in handling such scenarios by providing high-level scene understanding and user-aligned decisions. However, existing VLMs often exhibit a misalignment between their language-based reasoning and the low-level trajectories required for action-level planning. In this paper, we propose LaViPlan, a framework that leverages Reinforcement Learning with Verifiable Rewards (RLVR) to fine-tune VLMs using planning-oriented metrics. Experimental results show that LaViPlan improves planning performance across both in-domain and out-of-domain datasets. While linguistic fidelity slightly decreases after RLVR-based fine-tuning, qualitative evaluation indicates that the outputs remain coherent. We also conduct ablation studies to analyze the effects of sampling ratio and reasoning guidance, highlighting how these design choices influence performance. These findings demonstrate the potential of RLVR as a post-training paradigm for aligning language-guided reasoning with action-level planning in autonomous driving.

While progress in GUI agents has been largely driven by industrial-scale training, ungrounded hallucinations often trigger cascading failures in real-world deployments.Unlike general VLM domains, the GUI agent field lacks a hallucination-focused suite for fine-grained diagnosis, reliable evaluation, and targeted mitigation.To bridge this gap, we introduce HalluClear, a comprehensive suite for hallucination mitigation in GUI agents as a complement to computation-intensive scaling. HalluClear comprises: (1) a GUI-specific hallucination taxonomy derived from empirical failure analysis; (2) a calibrated three-stage evaluation workflow which enhances VLM-as-a-judge reliability via expert-annotated benchmarking and ensemble credibility estimation; and (3) a mitigation scheme based on closed-loop structured reasoning, enabling lightweight continual post-training with cold-start initialization for both generalist and GUI-specialist agents. Experiments across representative agents and public benchmarks demonstrate that post-training on only 9K samples within our suite can significantly reduce hallucinations, thereby improving grounding and action fidelity, offering a compute-efficient pathway to robust GUI automation.

Recent video generation models demonstrate remarkable ability to capture complex physical interactions and scene evolution over time. To leverage their spatiotemporal priors, robotics works have adapted video models for policy learning but introduce complexity by requiring multiple stages of post-training and new architectural components for action generation. In this work, we introduce Cosmos Policy, a simple approach for adapting a large pretrained video model (Cosmos-Predict2) into an effective robot policy through a single stage of post-training on the robot demonstration data collected on the target platform, with no architectural modifications. Cosmos Policy learns to directly generate robot actions encoded as latent frames within the video model's latent diffusion process, harnessing the model's pretrained priors and core learning algorithm to capture complex action distributions. Additionally, Cosmos Policy generates future state images and values (expected cumulative rewards), which are similarly encoded as latent frames, enabling test-time planning of action trajectories with higher likelihood of success. In our evaluations, Cosmos Policy achieves state-of-the-art performance on the LIBERO and RoboCasa simulation benchmarks (98.5% and 67.1% average success rates, respectively) and the highest average score in challenging real-world bimanual manipulation tasks, outperforming strong diffusion policies trained from scratch, video model-based policies, and state-of-the-art vision-language-action models fine-tuned on the same robot demonstrations. Furthermore, given policy rollout data, Cosmos Policy can learn from experience to refine its world model and value function and leverage model-based planning to achieve even higher success rates in challenging tasks. We release code, models, and training data at https://research.nvidia.com/labs/dir/cosmos-policy/

Learning deployable manipulation policies is bottlenecked by the scarcity of data that is both high-fidelity and scalable. Real-robot teleoperation is accurate but costly to scale; robot-free UMI capture scales readily, and current practice uses the resulting data mainly for pre-training, adding a small real-robot "anchor" at post-training. We ask whether raising the fidelity of robot-free UMI data, rather than shrinking the real-robot fraction, can remove that anchor. We present HiFi-UMI, a portable UMI data-production system co-designed for trajectory accuracy, inter-gripper relative pose, synchronization, and field of view: head-mounted offline stereo-inertial SLAM, native rather than reconstructed relative pose, a shared microsecond GPIO trigger, and two wide-angle cameras per hand covering ~200 degrees. It reaches 3 mm workspace-local end-effector accuracy without external tracking infrastructure. Using this corpus, we demonstrate zero-robot post-training: a policy post-trained solely on HiFi-UMI demonstrations deploys directly on a real robot and matches in-domain teleoperation across three backbones spanning the vision-language-action and world-action-model families, with success-rate differences of -2.5, +3.1, and -0.6 percentage points on StarVLA-QwenPI, OpenPI-pi_0.5, and LingBot-VA; the strongest policy reaches 85% on a precision insertion task, even though the teleoperation baseline is collected in the evaluation scene and no HiFi-UMI trajectory is. Pre-training on 4,000 hours from the same corpus lowers action error on ten unseen tasks by 41% and, on StarVLA-QwenPI, raises real-robot success by a further 18.1 percentage points. We open-source HiFi-UMI-2K, 2,000 hours of microsecond-synchronized, ultra-wide-FoV demonstrations, each automatically reconstructed and validated through simulation replay, as a large-scale, high-fidelity resource for the robot-learning community.

General-purpose robots need to reason about their actions, combining perception, world knowledge, planning, success detection, recovery, and low-level control. Today's state-of-the-art models attempt to combine all these capabilities into the learned policy via large-scale pre-training. Instead, we show that these capabilities can be decomposed into a general language-conditioned policy/control agent and a high-level agent manager/orchestrator. Rather than training policies to reason via pre-training, we build a closed-loop physical agent orchestrator that can do high-level planning, decompose the goal into achievable subgoals, command low-level motor commands, track and verify the outcome from low-level observations, and recover from failures. Our Physical Agency orchestrator (Pigey) can control existing vision-language-action (VLA) policies as well as parametrized skills to solve complex reasoning tasks in the real world, without any additional data collection or post-training. We evaluate Pigey extensively across simulation benchmarks and challenging real-world robotic manipulation tasks, and demonstrate significant performance improvements over existing generalist policies. On LIBERO-PRO, Pigey advances the state-of-the-art by over 4x (12.8% -> 53.3%) with no task-specific fine-tuning. On a real robot, Pigey lifts the frozen policy from near-zero to over 90% on reasoning-limited tasks. We call the difference between what frozen motor skills achieve alone and inside the agentic loop the orchestration gap.

Generative world models (WMs) can now simulate worlds with striking visual realism, which naturally raises the question of whether they can endow embodied agents with predictive perception for decision making. Progress on this question has been limited by fragmented evaluation: most existing benchmarks adopt open-loop protocols that emphasize visual quality in isolation, leaving the core issue of embodied utility unresolved, i.e., do WMs actually help agents succeed at embodied tasks? To address this gap, we introduce World-in-World, the first open platform that benchmarks WMs in a closed-loop world that mirrors real agent-environment interactions. World-in-World provides a unified online planning strategy and a standardized action API, enabling heterogeneous WMs for decision making. We curate four closed-loop environments that rigorously evaluate diverse WMs, prioritize task success as the primary metric, and move beyond the common focus on visual quality; we also present the first data scaling law for world models in embodied settings. Our study uncovers three surprises: (1) visual quality alone does not guarantee task success, controllability matters more; (2) scaling post-training with action-observation data is more effective than upgrading the pretrained video generators; and (3) allocating more inference-time compute allows WMs to substantially improve closed-loop performance.

Generalist robot policies increasingly benefit from large-scale pretraining, but offline data alone is insufficient for robust real-world deployment. Deployed robots encounter distribution shifts, long-tail failures, task variations, and human correction opportunities that fixed demonstration datasets cannot fully capture. We present Learning While Deploying (LWD), a fleet-scale offline-to-online reinforcement learning framework for continual post-training of generalist Vision-Language-Action (VLA) policies. Starting from a pretrained VLA policy, LWD closes the loop between deployment, shared physical experience, policy improvement, and redeployment by using autonomous rollouts and human interventions collected across a robot fleet. To stabilize learning from heterogeneous, sparse-reward fleet data, LWD combines Distributional Implicit Value Learning (DIVL) for robust value estimation with Q-learning via Adjoint Matching (QAM) for policy extraction in flow-based VLA action generators. We validate LWD on a fleet of 16 dual-arm robots across eight real-world manipulation tasks, including semantic grocery restocking and 3--5 minute long-horizon tasks. A single generalist policy improves as fleet experience accumulates, reaching an average success rate of 95%, with the largest gains on long-horizon tasks.

Recent vision-language-action (VLA) models built on pretrained vision-language models (VLMs) have demonstrated strong generalization across manipulation tasks. However, they remain constrained by a single-frame observation paradigm and cannot fully benefit from the motion information offered by aggregated multi-frame historical observations, as the large vision-language backbone introduces substantial computational cost and inference latency. We propose CronusVLA, a unified framework that extends single-frame VLA models to the multi-frame paradigm through an efficient post-training stage. CronusVLA comprises three key components: (1) single-frame pretraining on large-scale embodied datasets with autoregressive action tokens prediction, which establishes an embodied vision-language foundation; (2) multi-frame encoding, adapting the prediction of vision-language backbones from discrete action tokens to motion features during post-training, and aggregating motion features from historical frames into a feature chunking; (3) cross-frame decoding, which maps the feature chunking to accurate actions via a shared decoder with cross-attention. By reducing redundant token computation and caching past motion features, CronusVLA achieves efficient inference. As an application of motion features, we further propose an action adaptation mechanism based on feature-action retrieval to improve model performance during finetuning. CronusVLA achieves state-of-the-art performance on SimplerEnv with 70.9% success rate, and 12.7% improvement over OpenVLA on LIBERO. Real-world Franka experiments also show the strong performance and robustness.

Evaluating embodied robot foundation models remains a critical bottleneck; unlike large language models efficiently assessed via digital benchmarks, robotic policies require slow, costly real-world rollouts limited by hardware and human supervision, which has driven interest in world models as surrogate policy evaluators, yet the key properties that make a world model reliable for policy assessment remain poorly understood. This work presents a systematic study of world models for robotic policy evaluation and introduces WMBench, a benchmark constructed from real-robot teleoperation data and matched policy rollouts covering diverse manipulation tasks to enable controlled comparisons across model families, action encodings, rollout horizons, and evaluation metrics. Using WMBench, we analyze 7 video world models, 4 action representation schemes, and over 324,000 simulated policy rollouts paired with real robot executions, further enriching our analysis with large-scale community submissions from the CVPR 2026 GigaBrain Challenge, curated synthetic trajectories, and a training videos spanning more than 12,000 hours. Our experiments deliver three core insights: evaluator quality is dominated by long-horizon, action-faithful rollout consistency rather than short-term visual realism; pretraining gains stem not only from data scale but from balancing general world knowledge with robot-specific controllability; and architectural choices including action encoding, memory design, and evaluator-focused post-training strongly determine alignment with real-world robot behavior. Drawing on these results, we derive a practical design roadmap and realize it in GigaWorld-1, a world model specially optimized for policy evaluation, and we fully release our code, models, datasets, and toolkits to advance scalable evaluation research for embodied foundation models.

World foundation models (WFMs) are powerful simulators, yet they predominantly operate in a single-view setting and lack the multi-view 3D consistency required for robotic manipulation. While robotic systems rely on multiple cameras (egocentric, eye-to-hand, and wrist-mounted) for policy learning, current multi-view world models simply concatenate view tokens without explicit geometric reasoning. This causes cross-view object drift, depth inconsistency, and texture misalignment. We trace these failures to two deficiencies: the absence of an explicit inter-view communication mechanism and the lack of a 3D geometric prior. We argue that resolving both simultaneously is necessary and sufficient. To address this, we present PAIWorld, a framework that augments diffusion-transformer world models via three core components: (1) Geometry-Aware Cross-View Attention blocks that establish an explicit pathway across views, (2) Geometric Rotary Position Embedding that encodes camera ray directions and extrinsic poses into the attention mechanism, and (3) Latent 3D-REPA, which distills 3D-aware features from frozen 3D foundation models to ensure 3D consistency. Built upon a DiT-based world foundation model, PAIWorld achieves state-of-the-art multi-view 3D consistency on robotic manipulation benchmarks, ranking 1st on the WorldArena leaderboard and 2nd on the AgiBot-Challenge2026 leaderboard, while enabling downstream applications such as model-based planning, world action models, and multi-view policy post-training.

Vision-language-action (VLA) models map visual observations and language instructions directly to robot actions, but long-horizon tasks require more than action prediction. An agent must coordinate perception, planning, execution, progress verification, and recovery as the physical state evolves. An action prediction or a model-generated skill decision does not, by itself, guarantee that the proposed operation is valid in the current state or that its outcome will be verified. We propose EmbodiedSkills, a unified framework that treats each skill decision as an execution proposal: the runtime checks its prerequisites before execution and verifies the outcome afterward. A shared executable-skill interface connects high-level skill selection, bounded low-level VLA execution, and post-action verification within a single agent loop. Because this interface remains fixed, low-level VLA policies can be replaced or adapted without changing the agent loop. The interface also records planning, execution, verification, and recovery events as structured trajectories, which provide supervision for individual components and can support optional online adaptation when interactive feedback is available. We instantiate EmbodiedSkills with Qwen3-VL and OpenPI/pi0.5 on RoboTwin 2.0 and LIBERO. Task-adapted low-level VLA policies achieve an average success rate of 86.20% across 50 RoboTwin 2.0 tasks and 97.40% across the four LIBERO suites. These results establish the execution performance of the task-adapted low-level VLA policies used in EmbodiedSkills. On four memory-dependent RMBench tasks, the same task-adapted execution approach achieves 12.5% average success. The framework provides a trainable and inspectable agent layer for turning these policies into closed-loop embodied systems.

Offline post-training adapts a pretrained robot policy to a target dataset by supervised regression on recorded actions. In practice, robot datasets are heterogeneous: they mix embodiments, camera setups, and demonstrations of varying quality, so many trajectories reflect recovery behavior, inconsistent operator skill, or weakly informative supervision. Uniform post-training gives equal credit to all samples and can therefore average over conflicting or low-attribution data. We propose Posterior-Transition Reweighting (PTR), a reward-free and conservative post-training method that decides how much each training sample should influence the supervised update. For each sample, PTR encodes the observed post-action consequence as a latent target, inserts it into a candidate pool of mismatched targets, and uses a separate transition scorer to estimate a softmax identification posterior over target indices. The posterior-to-uniform ratio defines the PTR score, which is converted into a clipped-and-mixed weight and applied to the original action objective through self-normalized weighted regression. This construction requires no tractable policy likelihood and is compatible with both diffusion and flow-matching action heads. Rather than uniformly trusting all recorded supervision, PTR reallocates credit according to how attributable each sample's post-action consequence is under the current representation, improving conservative offline adaptation to heterogeneous robot data.

AI agents today have passwords but no permission slips. They execute tool calls (fund transfers, database queries, shell commands, sub-agent delegation) with no standard mechanism to enforce authorization before the action executes. Current safety architectures rely on model alignment (probabilistic, training-time) and post-hoc evaluation (retrospective, batch). Neither provides deterministic, policy-based enforcement at the individual tool call level. We characterize this gap as the pre-action authorization problem and present the Open Agent Passport (OAP), an open specification and reference implementation that intercepts tool calls synchronously before execution, evaluates them against a declarative policy, and produces a cryptographically signed audit record. OAP enforces authorization decisions in a measured median of 53 ms (N=1,000). In a live adversarial testbed (4,437 authorization decisions across 1,151 sessions, $5,000 bounty), social engineering succeeded against the model 74.6% of the time under a permissive policy; under a restrictive OAP policy, a comparable population of attackers achieved a 0% success rate across 879 attempts. We distinguish pre-action authorization from sandboxed execution (contains blast radius but does not prevent unauthorized actions) and model-based screening (probabilistic), and show they are complementary. The same infrastructure that enforces security constraints (spending limits, capability scoping) also enforces quality gates, operational contracts, and compliance controls. The specification is released under Apache 2.0 (DOI: 10.5281/zenodo.18901596).

Safety in agentic systems is inherently sequential: whether an action is safe depends on prior actions, tool outputs, information disclosures, and interactions among agents. Recent work has shifted agent safety guardrails from post-hoc trajectory-level assessment toward step-level action diagnosis and proactive risk prediction, yet existing training objectives provide limited supervision for how step evidence accumulates over time and when it becomes sufficient to justify intervention. We propose \methodlong~(ASPO): a training framework for step-level timely intervention. Pre-fix level stage alignment allows crediting each decision at its own step: it compares each response with the other responses sampled at the same prefix and rewards the action that fits the stage, continuing before the risk is visible, asking while clarification can still avert harm, and stopping before harm is irreversible. Adaptive feedback self-distillation further credits the reasoning behind each decision, with the model itself as a teacher that sees the step annotations on intervention steps and rules mined from its own false alarms on safe steps. Its training data carry a violation taxonomy and an intervention window at every step and are extended through self-evolving multi-agent red-teaming. Finally we present StepSafe, a step-level reasoning guardrail with timely intervention, that achieves the state-of-the-art peformance among open-source guardrails across five agent-safety benchmarks on safety-utility pareto curve with Youden's J of 53.0 (4B) against 46.2.

ReAct-style agents for search-intensive, multi-step reasoning tasks rely largely on their own internal judgment to decide what evidence to seek, which reasoning or action step to take next, and when to stop, often producing shallow, redundant, or poorly targeted trajectories. Prior work has explored rubrics as external quality signals, but existing uses are mostly evaluative rather than action-guiding: rubrics typically serve as training-time rewards or post-hoc evaluators of completed outputs, and in deep-research settings they are often coarse-grained and report-level rather than step-level. We introduce Co-ReAct, a rubric-guided action-selection framework that uses rubrics as step-level guidance during inference. At each decision step, Co-ReAct injects a rubric into the agent's context to guide the next Reason-or-Act decision, specifying what the agent should target in evidence seeking, search, reasoning, or self-evaluation. To make this guidance reliable, we train a dedicated rubric generator with GRPO. Unlike prior pairwise or binary preference formulations, our objective optimizes a list-wise Spearman rank-correlation reward against multi-judge expert consensus rankings, encouraging rubrics that are discriminative rather than merely plausible. On DeepResearchBench and SQA-CS-V2, Co-ReAct consistently improves over ReAct and representative test-time compute baselines across search agents built on both 8B/14B open-source and frontier closed-source base models. The trained rubric generator can also serve as a drop-in component that improves these baselines without changing their underlying decision mechanisms. Our code is publicly available at https://github.com/ZBWpro/Co-ReAct.

Diffusion models have recently advanced human motion generation, producing realistic and diverse animations from textual prompts. However, adapting these models to unseen actions or styles typically requires additional motion capture data and full retraining, which is costly and difficult to scale. We propose a post-training framework based on Reinforcement Learning that fine-tunes pretrained motion diffusion models using only textual prompts, without requiring any motion ground truth. Our approach employs a pretrained text-motion retrieval network as a reward signal and optimizes the diffusion policy with Denoising Diffusion Policy Optimization, effectively shifting the model's generative distribution toward the target domain without relying on paired motion data. We evaluate our method on cross-dataset adaptation and leave-one-out motion experiments using the HumanML3D and KIT-ML datasets across both latent- and joint-space diffusion architectures. Results from quantitative metrics and user studies show that our approach consistently improves the quality and diversity of generated motions, while preserving performance on the original distribution. Our approach is a flexible, data-efficient, and privacy-preserving solution for motion adaptation.

The paradigm of agentic AI is shifting from engineered complex workflows to post-training native models. However, existing agents are typically confined to static, predefined action spaces--such as exclusively using APIs, GUI events, or robotic commands. This rigidity limits their adaptability in dynamic environments where the optimal granularity of interaction varies contextually. To bridge this gap, we propose CrossAgent, a unified agentic model that masters heterogeneous action spaces and autonomously selects the most effective interface for each step of a trajectory. We introduce a comprehensive training pipeline that integrates cold-start supervised fine-tuning with a Multi-Turn Group Relative Policy Optimization (GRPO) algorithm. This approach enables the agent to learn adaptive action switching--balancing high-level efficiency with low-level precision--without human-specified rules. Extensive experiments on over 800 tasks in the open-world Minecraft environment demonstrate that CrossAgent achieves state-of-the-art performance. By dynamically leveraging the strengths of diverse action spaces, our model significantly outperforms fixed-action baselines, exhibiting superior generalization and efficiency in long-horizon reasoning. All code and models are available at https://github.com/CraftJarvis/OpenHA

Process reward models enable fine-grained, step-level evaluation of LLMs, yet building them for agentic settings remains prohibitively difficult: long-horizon interactions, irreversible actions, and stochastic environment feedback make both human annotation and Monte Carlo estimation infeasible at scale. In this work, we show that reinforcement learning (RL) post-training already provides the ingredients for effective step-level scoring, eliminating the need for dedicated reward model training altogether. Concretely, we derive an implicit advantage under a general stochastic Markov decision process, which we term progress advantage -- log-probability ratio between the RL-trained policy and its reference policy exactly recovers the optimal advantage function. This formulation makes the resulting signal annotation-free, domain-agnostic, and available as a byproduct of the standard RL post-training pipeline. We validate the effectiveness of the progress advantage across three different applications: test-time scaling, uncertainty quantification, and failure attribution on five benchmarks and four model families. Across all settings, it consistently outperforms confidence-based baselines and, despite requiring no task-specific training, surpasses dedicated trained reward models. We complement these results with deeper analyses on characteristics of progress advantage, offering practical guidance for adoption in real-world agentic systems.

Interactive dialogue games test a capability that static benchmarks largely leave implicit: a model must carry state across turns, interpret feedback, and choose valid actions under changing constraints. We study this setting in the LM Playschool Challenge with a 2B open-weight model, and find that many failures are not only broad knowledge failures but also local decision failures: repeated guesses, malformed actions, and violations of feedback that the model has just seen. These diagnostics motivate a training recipe organized around three steps: acquire broad game participation through supervised fine-tuning, repair mechanically verifiable failures within one targeted dialogue-game family using turn-local preference pairs, and preserve general capabilities beyond these dialogue games. In the official final evaluation, our submission improves public clemscore from 10.67 to 38.92 and closed in-domain score from 13.41 to 41.17, while approximately preserving aggregate static performance (44.14 vs. 44.24 for the baseline). Out-of-domain clemscore remains low at 7.88, with the largest gains concentrated in unseen variants of the targeted family. Our results suggest that broad SFT brings most of the model's capability improvement; turn-local supervision can be effective when failure detection is precise, with observed transfer concentrated primarily within-family.

Video generative models are increasingly used as world models for robotics, where a model generates a future visual rollout conditioned on the current observation and task instruction, and an inverse dynamics model (IDM) converts the generated frames into executable robot actions. However, current video world models lack explicit executability constraints. As a result, visually coherent rollouts may still violate rigid-body and kinematic consistency, producing unstable or infeasible control commands when decoded by an IDM. We refer to this mismatch between visual generation and physically executable control as the executability gap. While this gap can be mitigated at inference time using techniques such as rejection sampling, such approaches are inefficient due to the high cost of video generation. In this paper, we leverage the executability gap as a training signal and introduce Executable Video Alignment (EVA), a reinforcement-learning post-training framework for aligning video world models. EVA trains an inverse dynamics model on real robot trajectories and repurposes it as a reward model that evaluates generated videos through the action sequences they induce, encouraging smooth motions measured by velocity, acceleration, and jerk while penalizing actions that violate embodiment constraints. Importantly, the reward remains informative even when generated videos contain severe visual artifacts, since such artifacts typically translate into unstable or out-of-bound actions. Experiments on the RoboTwin benchmark and a real bimanual robot show that EVA reduces embodiment-specific artifacts in generated rollouts and improves downstream task execution success.

Pre-training equips large language models (LLMs) with a broad repertoire of behavioral patterns associated with roles, styles, values, and goals. Post-training teaches conditional enactment and makes a helpful Assistant the default, but it does not erase alternative modes from the weights; explicit prompts can therefore elicit personas that repeatedly shape judgment, language, and action. In open-weight settings, runtime controls can be removed, motivating persona unlearning: a weight-level edit that makes a designated persona difficult to elicit and enact on unseen contexts. We introduce PersonaUnlearnBench, a model-specific paired benchmark spanning six LLMs from three families and five personas, with aligned forget/retain sets, held-out instruction paraphrases, and four-axis evaluation. The benchmark shows that standard unlearning methods cannot reliably erase the target persona without sacrificing meaningful generation or general utility. We therefore propose PaCE, which compares target and desirable responses to the same questions to locate an internal behavior direction, then trains target-prompt states away from the target mode and toward the matched desirable response. Experiments show that PaCE consistently suppresses target personas with high response quality and useful counterpart behavior, at moderate utility cost. These results establish persona unlearning as a distinct behavior-level editing problem and a practical route toward persistent control of latent LLM response policies.

Large language models (LLMs) are increasingly used to take actions in the real world and support human decision-making, yet most agents rely on parametric knowledge, fixed post-training data, retrieval, or search. This paradigm breaks down in novel domains and for sophisticated queries that cannot be answered from prior knowledge alone. Knowing the laws of physics, for instance, does not by itself enable LLMs to answer queries or complete long-horizon tasks in a complex physical system. To address this, we introduce Hierarchical Experimentalist Agents (HExA), an in-context self-improvement framework to learn from active experimentation. HExA iteratively designs and refines query-relevant experiments, learns a reusable library of composable skills from experience, and integrates experimental evidence to answer queries or take actions. HExA is training-free, compatible with any black-box model, and does not require external supervision, oracles, or offline data. To evaluate active experimentation, we introduce Interphyre, a tool-calling benchmark built on the PHYRE 2D procedural physics environment, where agents propose interventions and test hypotheses through simulation APIs. Experiments show that current LLM agents struggle in these settings, especially on the hardest levels of Interphyre. Claude Sonnet 4.6 achieves only 2% success, while HExA improves the same model to up to 77% success. HExA also improves open-weight models and outperforms agentic baselines such as ReAct and Reflexion. Moreover, using only skills learned from easier levels and transferred without active experimentation, HExA achieves 44% success, demonstrating the reusability and generalization of its learned skills. Overall, HExA shows that learning through active experimentation can help agents discover useful knowledge, acquire reusable skills, and make efficient progress on novel long-horizon tasks.

Learning how to do things from trial and error in real time is a hallmark of biological intelligence, yet most LLM-based agents lack mechanisms to acquire procedural knowledge after deployment. We propose Procedural Recall for Agents with eXperiences Indexed by State (PRAXIS), a lightweight post-training learning mechanism that stores the consequences of actions and retrieves them by jointly matching environmental and internal states of past episodes to the current state. PRAXIS augments agentic action selection with retrieved state-action-result exemplars that are generated in real time. When evaluated on the REAL web browsing benchmark, PRAXIS improves task completion accuracy, reliability, and cost efficiency across different foundation model backbones, and shows preliminary generalization to unseen tasks in similar environments. These results demonstrate that PRAXIS enables the practical adoption of AI agents in fast-evolving stateful environments by helping them learn new procedures effectively.

As scaling pre-training data alone yields diminishing returns, post-training is becoming increasingly important across physical AI domains such as autonomous driving. End-to-end driving policies are pre-trained in open loop with behavior cloning on human demonstrations. However, compounding errors during closed-loop deployment can take the vehicle outside the training data distribution, increasing the risk of safety-critical incidents. Closed-loop post-training can mitigate this risk but requires costly simulation for sensor-based policies. We propose OPTED (on-policy fine-tuning for end-to-end driving) which decouples reinforcement learning from the post-training of the end-to-end policy: a privileged teacher is trained using RL on vectorized inputs (HD-map and bounding boxes). This teacher then provides supervision to the pre-trained student during closed-loop post-training. We apply OPTED to two camera-based models, TransFuser and VaVAM, and fine-tune them in AlpaSim, using neural reconstructions (3DGS) of real driving logs. Driving scores increase by factors of 1.6times and 9.5times, respectively. In controlled experiments OPTED matches closed-loop performance with approximately three orders of magnitude fewer simulator interactions than direct RL post-training, while staying closer to the human prior. Project page: https://01dami23.github.io/opted/

AI agents have become surprisingly proficient at software engineering over the past year, largely due to improvements in reasoning capabilities. This raises a deeper question: can these systems extend their capabilities to automate AI research itself? In this paper, we explore post-training, the critical phase that turns base LLMs into useful assistants. We introduce PostTrainBench to benchmark how well LLM agents can perform post-training autonomously under bounded compute constraints (10 hours on one H100 GPU). We ask frontier agents (e.g., Claude Code with Opus 4.6) to optimize the performance of a base LLM on a particular benchmark (e.g., Qwen3-4B on AIME). Importantly, we do not provide any predefined strategies to the agents and instead give them full autonomy to find necessary information on the web, run experiments, and curate data. We find that frontier agents make substantial progress but generally lag behind instruction-tuned LLMs from leading providers: 23.2% for the best agent vs. 51.1% for official instruction-tuned models. However, agents can exceed instruction-tuned models in targeted scenarios: GPT-5.1 Codex Max achieves 89% on BFCL with Gemma-3-4B vs. 67% for the official model. We also observe several failure modes worth flagging. Agents sometimes engage in reward hacking: training on the test set, downloading existing instruction-tuned checkpoints instead of training their own, and using API keys they find to generate synthetic data without authorization. These behaviors are concerning and highlight the importance of careful sandboxing as these systems become more capable. Overall, we hope PostTrainBench will be useful for tracking progress in AI R&D automation and for studying the risks that come with it. Website and code are available at https://posttrainbench.com/.

State-of-the-art AI systems can be significantly improved without expensive retraining via "post-training enhancements"-techniques applied after initial training like fine-tuning the system to use a web browser. We review recent post-training enhancements, categorizing them into five types: tool-use, prompting methods, scaffolding, solution selection, and data generation. Different enhancements improve performance on different tasks, making it hard to compare their significance. So we translate improvements from different enhancements into a common currency, the compute-equivalent gain: how much additional training compute would be needed to improve performance by the same amount as the enhancement. Our non-experimental work shows that post-training enhancements have significant benefits: most surveyed enhancements improve benchmark performance by more than a 5x increase in training compute, some by more than 20x. Post-training enhancements are relatively cheap to develop: fine-tuning costs are typically <1% of the original training cost. Governing the development of capable post-training enhancements may be challenging because frontier models could be enhanced by a wide range of actors.

Post-training, which elicits a pretrained Base model into the corresponding Instruct model, is widely considered to be superficial. In this work, we first reinforce this hypothesis by providing novel quantitative evidence from the weight level that the effective rank (eRank) remains negligibly changed. However, this superficiality also suffers a critical trade-off, improving the exploitation capabilities at the cost of limiting its exploration. To tackle this issue, we propose Timber, a simple yet effective training-free method that enhances the exploration capability of the Instruct model while preserving its exploitation. The key insight is to partially revert Instruct towards the paired Base model by subtle yet targeted refinement of the weight deltas. Extensive experiments on Llama and Qwen series demonstrate that Timber consistently improves vanilla Instruct models, particularly on Pass@k performance. Our findings offer new insights into the post-training stage at the weight level and practical strategies to refine the Instruct model without training.