SUN: Agentic Robot Policy Learning with Persistent Task Programs

arXiv:2608.31167 · cs.RO, cs.AI · Submitted 2026-08-31 · Read on arXiv

cs.RO, cs.AI

Submitted: 2026-08-31

Updated: 2026-09-25

Terminology

• Reinforcement Learning — 6× in this paper · explained in 4 episodes
• Ablation — 4× in this paper · explained in 1 episode
• Calibration — 4× in this paper · explained in 7 episodes
• Grounding — 4× in this paper · explained in 3 episodes
• Robustness — 4× in this paper · explained in 5 episodes
• Amortization — 3× in this paper · explained in 1 episode
• Sim-to-Real Transfer — 3× in this paper · explained in 2 episodes
• Zero-Shot Transfer — 3× in this paper · explained in 4 episodes
• Consistency — 2× in this paper · explained in 3 episodes
• Fidelity — 2× in this paper · explained in 2 episodes
• Generalization — 2× in this paper · explained in 13 episodes
• Model Predictive Control — 2× in this paper
• Semantic Drift — 2× in this paper · explained in 3 episodes
• Adaptation — 1× in this paper · explained in 1 episode
• Alignment — 1× in this paper · explained in 1 episode
• Closed-Loop Control — 1× in this paper · explained in 3 episodes
• Core — 1× in this paper · explained in 2 episodes
• Deep Reinforcement Learning — 1× in this paper · explained in 2 episodes
• Fine-Tuning — 1× in this paper · explained in 5 episodes
• Flow Matching — 1× in this paper · explained in 8 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• Foundation Models — 1× in this paper · explained in 7 episodes
• International Conference on Robotics and Automation — 1× in this paper
• Model Predictive Control (MPC) — 1× in this paper · explained in 5 episodes
• Reinforcement Learning (RL) — 1× in this paper · explained in 25 episodes
• Reward Shaping — 1× in this paper · explained in 2 episodes
• Sample Efficiency — 1× in this paper · explained in 4 episodes
• Selection Bias — 1× in this paper · explained in 4 episodes
• World Model — 1× in this paper · explained in 7 episodes

Sources

• SmolVLA: A Vision-Language-Action Model for Affordable and Efficient Robotics
• Igniting VLMs toward the Embodied Space

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