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arXiv 提交日期: 2026-01-06
📄 Abstract - SOP: A Scalable Online Post-Training System for Vision-Language-Action Models

Vision-language-action (VLA) models achieve strong generalization through large-scale pre-training, but real-world deployment requires expert-level task proficiency in addition to broad generality. Existing post-training approaches for VLA models are typically offline, single-robot, or task-specific, limiting effective on-policy adaptation and scalable learning from real-world interaction. We introduce a Scalable Online Post-training (SOP) system that enables online, distributed, multi-task post-training of generalist VLA models directly in the physical world. SOP tightly couples execution and learning through a closed-loop architecture in which a fleet of robots continuously streams on-policy experience and human intervention signals to a centralized cloud learner, and asynchronously receives updated policies. This design supports prompt on-policy correction, scales experience collection through parallel deployment, and preserves generality during adaptation. SOP is agnostic to the choice of post-training algorithm; we instantiate it with both interactive imitation learning (HG-DAgger) and reinforcement learning (RECAP). Across a range of real-world manipulation tasks including cloth folding, box assembly, and grocery restocking, we show that SOP substantially improves the performance of large pretrained VLA models while maintaining a single shared policy across tasks. Effective post-training can be achieved within hours of real-world interaction, and performance scales near-linearly with the number of robots in the fleet. These results suggest that tightly coupling online learning with fleet-scale deployment is instrumental to enabling efficient, reliable, and scalable post-training of generalist robot policies in the physical world.

顶级标签: robotics model training systems
详细标签: online learning vision-language-action multi-robot systems post-training real-world deployment 或 搜索:

SOP:一个面向视觉-语言-动作模型的可扩展在线后训练系统 / SOP: A Scalable Online Post-Training System for Vision-Language-Action Models


1️⃣ 一句话总结

这篇论文提出了一种名为SOP的新型在线后训练系统,它能让多台机器人在真实世界中协同工作,通过持续收集操作经验和人类干预信号,快速、高效地提升通用型机器人AI模型在具体任务(如叠衣服、组装盒子)上的专业表现,同时保持其广泛适应能力。

源自 arXiv: 2601.03044