A Sim-to-Real Integration Pipeline for Training and Deployment of Chunk-Based VLA Manipulation Policies

arXiv:2609.21817 · cs.RO · Submitted 2026-09-18 · Read on arXiv

cs.RO

Submitted: 2026-09-18

Updated: 2026-09-18

Terminology

• Sim-to-Real Gap — 8× in this paper · explained in 6 episodes
• Benchmark — 2× in this paper · explained in 2 episodes
• Calibration — 2× in this paper · explained in 7 episodes
• Vision-Language-Action (VLA) Models — 2× in this paper · explained in 2 episodes
• Action Flow — 1× in this paper · explained in 1 episode
• Action Space — 1× in this paper · explained in 1 episode
• Adaptation — 1× in this paper · explained in 1 episode
• Aperture — 1× in this paper · explained in 1 episode
• Generalization — 1× in this paper · explained in 13 episodes
• Multimodal Inputs — 1× in this paper · explained in 2 episodes
• System Identification — 1× in this paper · explained in 3 episodes

Sources

• Online Self-Training for Co-Adaptation in Hierarchical Diffusion Policies

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