Ganlong Zhao
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126
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Robotics×1ML×1
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2026
Hierarchical Advantage Weighting for Online RL Fine-Tuning of VLAs from Sparse Episode Outcomes
The paper proposes Hierarchical Advantage-Weighted Behavior Cloning (HABC) to improve online reinforcement learning by addressing issues with existing approaches.
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Papers
cs.ROcs.LGEmpiricalRecentJun 15, 2026
Hierarchical Advantage Weighting for Online RL Fine-Tuning of VLAs from Sparse Episode Outcomes
Tongyan Fang, Siyuan Huang, Naiyu Fang, Ganlong Zhao +5 more
The paper proposes Hierarchical Advantage-Weighted Behavior Cloning (HABC) to improve online reinforcement learning by addressing issues with existing approaches.
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