StructRL: Online Structured Reinforcement Learning for Long-Horizon Vision-Language-Action Tasks
Vision-language-action (VLA) models perform well on shorter-horizon manipulation tasks but still struggle with long-horizon tasks that require multiple dependent manipulations from a single command. Online reinforcement learning (RL) can improve these policies through environment interaction, yet many existing methods provide reward only after the complete task succeeds. However, such terminal supervision is sparse and does not distinguish early failures from rollouts that make substantial partial progress. We propose StructRL, an online RL framework that constructs structured intermediate supervision from verifiable subtask completions. StructRL decomposes each task into verifiable subta...
| Authors | Ziyi Yin, Sangmin Woo, Kang Zhou et al. |
|---|---|
| Primary category | cs.CV |
| Published | 28 September 2026 |
| Last updated at source | 28 September 2026 |
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