Preprint
Aug 2026
Temporal GRPO: Beyond Trajectory-Level Credit in Vision-Language-Action Reinforcement Learning
Temporal GRPO addresses the problem of trajectory-level credit aliasing in post-train VLA policies by constructing detectable task stages, aligning each rollout with stage-specific action intervals, and comparing only rollouts that have entered the same stage.
Yao Zhou, Hang Gao, Fengge Wu et al.
· 2 citations