Author

Lehong Wu

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Preprint Aug 2026

$R^3$: Training Robots to Reason in Natural Language via Reinforcement Learning

This paper introduces a simple post-training recipe that turns off-the-shelf VLMs into robotic reasoners, and suggests that free-form language reasoning can function as a test-time compute mechanism for steering low-level policies.

Lehong Wu, Yuxiao Qu, Zheyuan Hu et al. · 0 citations