Preprint
Aug 2026
Learning to Act While Waiting: RL Finetuning of Generalist Robot Policies Under Inference Latency
While reinforcement learning (RL) allows generalist robot policies to continually improve during deployment, the large model size of modern generalist policies, such as VLAs, poses a fundamental obstacle to effective RL improvement. In particular, their severe inference latency---which can lead to pauses or jerky movem...
Brian Zhu, Momen Khalil, E. Harrison et al.
· 1 citation