Kinam Kim

VLaRL: Augmenting Vision-Language-Action Models with Simulation-Trained Latent-Conditioned Residual RL

Vision-language-action (VLA) models provide broad, instruction-conditioned manipulation behaviors, but their physical execution can remain imprecise during contact-rich interaction. Residual reinforcement learning (RL) can correct such errors while keeping the VLA frozen, but real-robot RL is costly and safety-critical...