EBRL: Asynchronous Embodied RL by Multi-Grained Resource Management

arXiv:2609.27547 · cs.LG, cs.DC · Submitted 2026-09-23 · Read on arXiv

cs.LG, cs.DC

Submitted: 2026-09-23

Updated: 2026-09-23

Terminology

• Core — 64× in this paper · explained in 2 episodes
• Allocator — 19× in this paper · explained in 1 episode
• Reinforcement Learning — 19× in this paper · explained in 4 episodes
• Benchmark — 12× in this paper · explained in 2 episodes
• GRPO — 8× in this paper · explained in 6 episodes
• Conference on Robot Learning — 5× in this paper
• Deep Reinforcement Learning — 5× in this paper · explained in 2 episodes
• Embodied AI — 5× in this paper · explained in 2 episodes
• Transformer — 4× in this paper · explained in 2 episodes
• In International Conference on Learning Representations — 3× in this paper
• Fine-Tuning — 2× in this paper · explained in 5 episodes
• Foundation Model — 2× in this paper · explained in 3 episodes
• Ablation — 1× in this paper · explained in 1 episode
• Abstraction — 1× in this paper · explained in 1 episode
• Action Flow — 1× in this paper · explained in 1 episode
• Adaptation — 1× in this paper · explained in 1 episode
• Affordance — 1× in this paper · explained in 1 episode
• Benchmarking — 1× in this paper · explained in 3 episodes
• Decoupling — 1× in this paper · explained in 2 episodes
• Diffusion Model — 1× in this paper · explained in 8 episodes
• Diffusion Models — 1× in this paper · explained in 6 episodes
• Distillation — 1× in this paper · explained in 2 episodes
• Grounding — 1× in this paper · explained in 3 episodes
• Institute for AI Industry Research — 1× in this paper
• LoRA Adapters — 1× in this paper · explained in 3 episodes
• Reinforcement Learning (RL) — 1× in this paper · explained in 25 episodes
• Resource Constraints — 1× in this paper · explained in 3 episodes
• Vision-Language-Action (VLA) Models — 1× in this paper · explained in 2 episodes

Sources

• SRPO: Self-Referential Policy Optimization for Vision-Language-Action Models
• D-VLA: A High-Concurrency Distributed Asynchronous Reinforcement Learning Framework for Vision-Language-Action Models
• $\pi^{*}_{0.6}$: a VLA That Learns From Experience
• UniLab: A Heterogeneous Architecture for Robot RL Beyond GPU-Dominant Paradigms
• Adaptive Rollout Length for Model-Based RL Using Model-Free Deep RL
• GR00T N1: An Open Foundation Model for Generalist Humanoid Robots
• SimpleVLA-RL: Scaling VLA Training via Reinforcement Learning
• VLA-RL: Towards Masterful and General Robotic Manipulation with Scalable Reinforcement Learning
• Proximal Policy Optimization Algorithms
• DeepSeekMath: Pushing the Limits of Mathematical Reasoning in Open Language Models
• RL-VLA cubed: A Flexible and Asynchronous Reinforcement Learning Framework for VLA Training
• Interactive Post-Training for Vision-Language-Action Models
• Learning Robust, Agile, Natural Legged Locomotion Skills in the Wild
• World Action Models are Zero-shot Policies
• A Vision-Language-Action-Critic Model for Robotic Real-World Reinforcement Learning
• StreamRL: Scalable, Heterogeneous, and Elastic RL for LLMs with Disaggregated Stream Generation
• robosuite: A Modular Simulation Framework and Benchmark for Robot Learning

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