# RLRC: Reinforcement Learning-based Recovery for Compressed Vision-Language-Action Models

arXiv: https://arxiv.org/abs/2506.17639 · HTML: https://mlsanity.com/paper/2506.17639/

## Key facts

- Cited by 23 papers in the map (data through 14 Oct 2026).
- Placed in Reinforcement learning and post-training, one of 13 directions in Vision-language-action models.
- Builds on 36 of its 41 references that are in the map.
- First posted on arXiv 21 Jun 2025.

## Placed in

- Vision-language-action models / [Reinforcement learning and post-training](https://mlsanity.com/vla/reinforcement-learning-and-post-training/)
- Deep reinforcement learning methods / [RL for robot locomotion and manipulation](https://mlsanity.com/deeprl/rl-for-robot-locomotion-and-manipulation/)

## Builds on (most cited first, 30 of 36)

- [Proximal Policy Optimization Algorithms](https://mlsanity.com/paper/1707.06347/) (2017)
- [QLoRA: Efficient Finetuning of Quantized LLMs](https://mlsanity.com/paper/2305.14314/) (2023)
- [RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control](https://mlsanity.com/paper/2307.15818/) (2023)
- [OpenVLA: An Open-Source Vision-Language-Action Model](https://mlsanity.com/paper/2406.09246/) (2024)
- [π0: A Vision-Language-Action Flow Model for General Robot Control](https://mlsanity.com/paper/2410.24164/) (2024)
- [GPTQ: Accurate Post-Training Quantization for Generative Pre-trained Transformers](https://mlsanity.com/paper/2210.17323/) (2022)
- [π0.5: a Vision-Language-Action Model with Open-World Generalization](https://mlsanity.com/paper/2504.16054/) (2025)
- [Octo: An Open-Source Generalist Robot Policy](https://mlsanity.com/paper/2405.12213/) (2024)
- [LIBERO: Benchmarking Knowledge Transfer for Lifelong Robot Learning](https://mlsanity.com/paper/2306.03310/) (2023)
- [GR00T N1: An Open Foundation Model for Generalist Humanoid Robots](https://mlsanity.com/paper/2503.14734/) (2025)
- [LLM.int8(): 8-bit Matrix Multiplication for Transformers at Scale](https://mlsanity.com/paper/2208.07339/) (2022)
- [Fine-Tuning Vision-Language-Action Models: Optimizing Speed and Success](https://mlsanity.com/paper/2502.19645/) (2025)
- [Open X-Embodiment: Robotic Learning Datasets and RT-X Models](https://mlsanity.com/paper/2310.08864/) (2023)
- [A Simple and Effective Pruning Approach for Large Language Models](https://mlsanity.com/paper/2306.11695/) (2023)
- [FAST: Efficient Action Tokenization for Vision-Language-Action Models](https://mlsanity.com/paper/2501.09747/) (2025)
- [LLM-Pruner: On the Structural Pruning of Large Language Models](https://mlsanity.com/paper/2305.11627/) (2023)
- [SmolVLA: A Vision-Language-Action Model for Affordable and Efficient Robotics](https://mlsanity.com/paper/2506.01844/) (2025)
- [SpatialVLA: Exploring Spatial Representations for Visual-Language-Action Model](https://mlsanity.com/paper/2501.15830/) (2025)
- [CogACT: A Foundational Vision-Language-Action Model for Synergizing Cognition and Action in Robotic Manipulation](https://mlsanity.com/paper/2411.19650/) (2024)
- [TinyVLA: Towards Fast, Data-Efficient Vision-Language-Action Models for Robotic Manipulation](https://mlsanity.com/paper/2409.12514/) (2024)
- [LLM-QAT: Data-Free Quantization Aware Training for Large Language Models](https://mlsanity.com/paper/2305.17888/) (2023)
- [ManiSkill3: GPU Parallelized Robotics Simulation and Rendering for Generalizable Embodied AI](https://mlsanity.com/paper/2410.00425/) (2024)
- [VLA-RL: Towards Masterful and General Robotic Manipulation with Scalable Reinforcement Learning](https://mlsanity.com/paper/2505.18719/) (2025)
- [RoboMIND: Benchmark on Multi-embodiment Intelligence Normative Data for Robot Manipulation](https://mlsanity.com/paper/2412.13877/) (2024)
- [Interactive Post-Training for Vision-Language-Action Models](https://mlsanity.com/paper/2505.17016/) (2025)
- [Improving Vision-Language-Action Model with Online Reinforcement Learning](https://mlsanity.com/paper/2501.16664/) (2025)
- [Fluctuation-based Adaptive Structured Pruning for Large Language Models](https://mlsanity.com/paper/2312.11983/) (2023)
- [What Can RL Bring to VLA Generalization? An Empirical Study](https://mlsanity.com/paper/2505.19789/) (2025)
- [EfficientVLA: Training-Free Acceleration and Compression for Vision-Language-Action Models](https://mlsanity.com/paper/2506.10100/) (2025)
- [VLA-Cache: Efficient Vision-Language-Action Manipulation via Adaptive Token Caching](https://mlsanity.com/paper/2502.02175/) (2025)

## Built on by (most cited first, 23 of 23)

- [Vision-Language-Action Models for Robotics: A Review Towards Real-World Applications](https://mlsanity.com/paper/2510.07077/) (2025)
- [VLA-RFT: Vision-Language-Action Reinforcement Fine-tuning with Verified Rewards in World Simulators](https://mlsanity.com/paper/2510.00406/) (2025)
- [Pure Vision Language Action (VLA) Models: A Comprehensive Survey](https://mlsanity.com/paper/2509.19012/) (2025)
- [A Survey on Efficient Vision-Language-Action Models](https://mlsanity.com/paper/2510.24795/) (2025)
- [FASTER: Rethinking Real-Time Flow VLAs](https://mlsanity.com/paper/2603.19199/) (2026)
- [DeepThinkVLA: Enhancing Reasoning Capability of Vision-Language-Action Models](https://mlsanity.com/paper/2511.15669/) (2025)
- [TurboVLA: Real-Time Vision-Language-Action Model at 32 Hz on an RTX 4090 with <1 GB VRAM](https://mlsanity.com/paper/2607.27205/) (2026)
- [Real-world Reinforcement Learning from Suboptimal Interventions](https://mlsanity.com/paper/2512.24288/) (2025)
- [DySL-VLA: Efficient Vision-Language-Action Model Inference via Dynamic-Static Layer-Skipping for Robot Manipulation](https://mlsanity.com/paper/2602.22896/) (2026)
- [StreamingVLA: Streaming Vision-Language-Action Model with Action Flow Matching and Adaptive Early Observation](https://mlsanity.com/paper/2603.28565/) (2026)
- [Vesta: A Generalist Embodied Reasoning Model](https://mlsanity.com/paper/2606.20905/) (2026)
- [Token Compression Meets Compact Vision Transformers: A Survey and Comparative Evaluation for Edge AI](https://mlsanity.com/paper/2507.09702/) (2025)
- [SAFE-Pruner: Semantic Attention-Guided Future-Aware Token Pruning for Efficient Vision-Language-Action Manipulation](https://mlsanity.com/paper/2605.29662/) (2026)
- [Drop-Then-Recovery: How Redundant Are Vision-Language-Action Models?](https://mlsanity.com/paper/2606.27755/) (2026)
- [Revisiting Parameter Redundancy in Vision-Language-Action Models: Insights from VLM-to-VLA Adaptation](https://mlsanity.com/paper/2606.31382/) (2026)
- [DenseReward: Dense Reward Learning via Failure Synthesis for Robotic Manipulation](https://mlsanity.com/paper/2607.13033/) (2026)
- [Environment-Aware Adaptive Pruning with Interleaved Inference Orchestration for Vision-Language-Action Models](https://mlsanity.com/paper/2602.00780/) (2026)
- [Joint Architecture-Token-Bitwidth Multi-Axis Optimization of Vision Transformers for Semiconductor IC Packaging](https://mlsanity.com/paper/2605.01742/) (2026)
- [Towards Trustworthy Physical Intelligence: From Theory to Practice Across Life Cycle](https://mlsanity.com/paper/2607.22877/) (2026)
- [IMLE-VLA: Fast Single-Step Action Generation for Vision-Language-Action Policies](https://mlsanity.com/paper/2609.10915/) (2026)
- [Recovering Aggressively Pruned Vision-Language-Action Models with Offline Hidden-State Distillation](https://mlsanity.com/paper/2609.19579/) (2026)
- [Anatomy of a Closed-Loop Collapse: A Causal Case Study of a Compressed VLA Policy](https://mlsanity.com/paper/2609.23048/) (2026)
- [REACT: Rolling Denoising and Dual Decoupling for Reactive Robot Control with VLA Models](https://mlsanity.com/paper/2610.12007/) (2026)

## Abstract (arXiv)

Vision-Language-Action models (VLA) have demonstrated remarkable capabilities and strong potential in complex robotic manipulation. However, their large parameter sizes and high inference latency hinder real-world deployment, especially on resource-constrained platforms. To address this, we conduct a systematic empirical study of model compression for VLAs. Building on these insights, we present textitRLRC, a three-stage compression and recovery pipeline consisting of structured pruning, performance recovery via SFT and RL, and subsequent quantization. The RL stage incorporates a critic warm-up strategy and BC loss regularization to stabilize training and preserve policy behavior. RLRC achieves up to an 8 times memory reduction and 2.3 times inference speedup while maintaining the original task success rate. Extensive experiments across multiple VLA backbones show that RLRC consistently outperforms existing compression baselines, highlighting its effectiveness for on-device deployment. Project website: https://rlrc-vla.github.io