Beyond Policy Patches: Distilling RL Specialists into Vision-Language-Action Policies
Overview
This research addresses failures in vision-language-action (VLA) policies during short, precision-critical phases by introducing REPAIR, a value-guided distillation framework.
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Reported quantity · number of trials per task: 30 other · reported trials
“ndidates and weights them using its critic to construct a supervision distribution. A shared weighted flow-matching objective trains the VLA first on observations from specialist-assisted rollouts, then on observations collected through its own execution. Specialists provide supervision without taking control during on-policy collection and are removed at deployment. Across six real-robot tasks with 30 evaluation tri”
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- arXiv Robotics — research abstractsSignalBeyond Policy Patches: Distilling RL Specialists into Vision-Language-Action Policies
This research addresses failures in vision-language-action (VLA) policies during short, precision-critical phases by introducing REPAIR, a value-guided distillation framework.
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