HELP: Human-Efficient Large-Scale Robot Post-Training with Rollout Segmentation
When adapting Vision Language Action (VLA) models to downstream tasks, multiple rounds of post-training are often required to progressively address policy weaknesses. In this report, we focus on maximizing human efficiency during this iterative process, measured by policy improvement and task throughput per unit of human labor and time. We propose HELP, a Human-Efficient Large-scale robot Post-training pipeline in which two specialized operators supervise twelve robots concurrently. A trained Teleoperator provides high-value remote interventions and recovery demonstrations, while a Floor Operator monitors the robot fleet, triggers takeovers, and performs physical resets. This role special...
| Authors | Shaopeng Zhai, Qi Zhang, Tianyi Zhang et al. |
|---|---|
| Primary category | cs.RO |
| Published | 8 July 2026 |
| Last updated at source | 15 July 2026 |
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