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News/When to Stop Penalizing Actions? Martingale GRPO for VLA Reinforcement Learning
arxiv
PublishedOctober 26, 2026 at 4:00 AM

When to Stop Penalizing Actions? Martingale GRPO for VLA Reinforcement Learning

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arXiv:2610.32431v1 Announce Type: new Abstract: A failed vision-language-action (VLA) rollout does not imply that every action contributed to failure. Yet in group-relative policy optimization (GRPO), a single trajectory-level advantage is assigned to all actions in a rollout. Potentially useful rec

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