نسخة أولية وصول مفتوح
PF-RL: Progress Field Reinforcement Learning via Goal-Conditioned Value Geometry for Vision-Language-Action Models
Reinforcement Fine-Tuning~(RFT) has emerged as a promising paradigm for improving Vision-Language-Action~(VLA) policies, yet sparse task-level outcomes provide limited credit for intermediate transitions, especially in long-horizon manipulation. A natural approach is to model intermediate task progress and use it as de …