Author

Yueh-Hua Wu

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Preprint Aug 2026

CounterAlign: Counterfactual Supervision for Vision-Language-Action Models

This work synthesizes counterfactual instruction-observation-action tuples from the dataset and combines them with adversarial discriminator training to learn an instruction-grounded reward model for offline RL, without collecting additional rollouts or annotations.

Haruo Kondoh, Keita Ota, Asako Kanezaki et al. · 0 citations