ReWeight: Leveraging Human Data for VLA Post-Training via Demonstration Retrieval and Sample Weighting

arXiv:2609.13851 · cs.RO, cs.AI · Submitted 2026-09-12 · Read on arXiv

cs.RO, cs.AI

Submitted: 2026-09-12

Updated: 2026-09-12

Project page: https://reweight-vla.github.io

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Optimal Transport — 1× in this paper · explained in 5 episodes
• Vision-Language-Action (VLA) Models — 1× in this paper · explained in 2 episodes

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