نسخة أولية وصول مفتوح
From Pretraining to Proficiency: Real-World Subtask RL for Long-Horizon Manipulation with Minimal Human Intervention
A pretrained robot foundation policy may execute most of a long-horizon task yet repeatedly fail at a few critical subtasks. Collecting additional full-task demonstrations for supervised fine-tuning (SFT) requires operators to repeat behaviors the policy already performs well. Reinforcement learning (RL) fine-tuning of …