# Reinforcement learning and post-training Area: [Vision-language-action models](https://mlsanity.com/vla/index.md). HTML: https://mlsanity.com/vla/reinforcement-learning-and-post-training/ ## Key facts - Reinforcement learning and post-training: 173 papers on arXiv since 2024 (data through 7 Oct 2026). - 84 of its 173 mapped papers (49%) cite “Octo: An Open-Source Generalist Robot Policy” (2024, arXiv 2405.12213). - 52 of its 173 mapped papers (30%) cite “ConRFT: A Reinforced Fine-tuning Method for VLA Models via Consistency Policy” (2025, arXiv 2502.05450). - 32 new papers 17 Sep–7 Oct. ## Most cited here - [Octo: An Open-Source Generalist Robot Policy](https://mlsanity.com/paper/2405.12213/) (2024), cited by 84 papers here - [ConRFT: A Reinforced Fine-tuning Method for VLA Models via Consistency Policy](https://mlsanity.com/paper/2502.05450/) (2025), cited by 52 papers here - [VLA-RL: Towards Masterful and General Robotic Manipulation with Scalable Reinforcement Learning](https://mlsanity.com/paper/2505.18719/) (2025), cited by 50 papers here - [SimpleVLA-RL: Scaling VLA Training via Reinforcement Learning](https://mlsanity.com/paper/2509.09674/) (2025), cited by 45 papers here - [What Can RL Bring to VLA Generalization? An Empirical Study](https://mlsanity.com/paper/2505.19789/) (2025), cited by 44 papers here - [Improving Vision-Language-Action Model with Online Reinforcement Learning](https://mlsanity.com/paper/2501.16664/) (2025), cited by 40 papers here - [π*0.6: a VLA That Learns From Experience](https://mlsanity.com/paper/2511.14759/) (2025), cited by 38 papers here - [Interactive Post-Training for Vision-Language-Action Models](https://mlsanity.com/paper/2505.17016/) (2025), cited by 34 papers here - [GRAPE: Generalizing Robot Policy via Preference Alignment](https://mlsanity.com/paper/2411.19309/) (2024), cited by 31 papers here - [A Vision-Language-Action-Critic Model for Robotic Real-World Reinforcement Learning](https://mlsanity.com/paper/2509.15937/) (2025), cited by 21 papers here ## New (17 Sep–7 Oct) - [Many Ways to Succeed: Diversity-Driven RL Fine-Tuning for VLA Generalization](https://mlsanity.com/paper/2610.09943/) (2026-10-07) - [Co-Evolving Robot Orchestrators and Policies through Deployment](https://mlsanity.com/paper/2610.09228/) (2026-10-06) - [Recursive Video In-Context Learning for Agentic Robot](https://mlsanity.com/paper/2610.06843/) (2026-10-05) - [How (and How Not) to Use Data Augmentation in VLA Post-Training](https://mlsanity.com/paper/2610.05994/) (2026-10-05) - [Triggering Generalist Reasoning via Predictive Uncertainty for Dual-System VLA](https://mlsanity.com/paper/2610.05025/) (2026-10-04) - [DiVeR: Decision-Critical Verifier Learning for VLA Test-Time Scaling](https://mlsanity.com/paper/2610.04933/) (2026-10-04) - [SWAP: Stepwise Action Policy Routing for Vision-Language-Action Models](https://mlsanity.com/paper/2610.06926/) (2026-10-03) - [RoboIRS: Inference-Time Internal Representation Steering for Generalist Robot Policies](https://mlsanity.com/paper/2610.04681/) (2026-10-03) - [eRLT: Efficient VLA Reinforcement Learning via Action-Relevant Token Routing](https://mlsanity.com/paper/2610.00913/) (2026-10-01) - [Online Evolution Strategy for Flow-Matching VLA Policies via Self-Supervised Trajectory Distribution Optimization](https://mlsanity.com/paper/2609.38855/) (2026-09-30) - [DriftOPD: Sequence-Level Reverse-KL Distillation for One-Step VLA Policies](https://mlsanity.com/paper/2610.00317/) (2026-09-29) - [Rho: A Foundation for Efficiently Adaptable VLA Models](https://mlsanity.com/paper/2609.38164/) (2026-09-29) - [Cooperative Multi-Agent Vision-Language-Action Models via Reinforced Fine Tuning](https://mlsanity.com/paper/2609.36588/) (2026-09-29) - [StructRL: Online Structured Reinforcement Learning for Long-Horizon Vision-Language-Action Tasks](https://mlsanity.com/paper/2609.36352/) (2026-09-28) - [The Low-Rank Structure of VLA Reinforcement Learning](https://mlsanity.com/paper/2609.34599/) (2026-09-28) - [Principal Steering Subspaces for Online Adaptation of Frozen Generative Robot Policies](https://mlsanity.com/paper/2609.33765/) (2026-09-27) - [PF-RL: Progress Field Reinforcement Learning via Goal-Conditioned Value Geometry for Vision-Language-Action Models](https://mlsanity.com/paper/2609.32634/) (2026-09-26) - [SAMBAR: Selective Anchoring via Method of Multipliers for Balanced Knowledge Acquisition and Retention in Vision-Language-Action Models](https://mlsanity.com/paper/2609.32108/) (2026-09-26) - [Find Something You Can't Do: Agentic Real-World Reinforcement Learning for Self-Improving VLA Models](https://mlsanity.com/paper/2609.32069/) (2026-09-25) - [VLaRL: Augmenting Vision-Language-Action Models with Simulation-Trained Latent-Conditioned Residual RL](https://mlsanity.com/paper/2609.30868/) (2026-09-25) - [Self-Adaptive VLA for Robust Robot Deployment](https://mlsanity.com/paper/2609.30092/) (2026-09-24) - [Uncertainty-Gated Exploration Noise Suppresses Task Collapse in Online RL Fine-Tuning of a Flow-Matching Vision-Language-Action Policy](https://mlsanity.com/paper/2609.28838/) (2026-09-23) - [TANDEM: Task and Motion Planning with As-Needed Demonstrations for Efficient Vision-Language-Action Model Fine-tuning](https://mlsanity.com/paper/2609.28314/) (2026-09-23) - [Dissecting Advantage-Guided Post-Training for Vision-Language-Action Policies](https://mlsanity.com/paper/2609.28161/) (2026-09-23) - [BEE: Intervention-Adaptive Real-World Reinforcement Learning with Vision-Language-Action Models](https://mlsanity.com/paper/2609.27450/) (2026-09-23) - [RouteRLT: Learning When and Which RL Specialist Should Control a Vision-Language-Action Policy](https://mlsanity.com/paper/2609.26467/) (2026-09-22) - [An Empirical Study and Open Testbed for Federated Fine-Tuning of Vision-Language-Action Models](https://mlsanity.com/paper/2609.22973/) (2026-09-19) - [Stable and Efficient Real-World Online VLA Post-Training via Asynchronous Replay-Anchored Policy Improvement](https://mlsanity.com/paper/2609.22888/) (2026-09-19) - [Prioritized Rollouts for Efficient World Model-based Vision-Language-Action Policy Optimization](https://mlsanity.com/paper/2609.22879/) (2026-09-19) - [ForceRFT: Refining VLA Actions through Force-Guided Residual Reinforcement Learning](https://mlsanity.com/paper/2609.22840/) (2026-09-19)