{"id":"https://openalex.org/W7162755431","doi":"https://doi.org/10.48550/arxiv.2605.30226","title":"BORA: Bridging Offline Reinforcement Learning and Online Residual Adaptation for Real-World Dexterous VLA Models","display_name":"BORA: Bridging Offline Reinforcement Learning and Online Residual Adaptation for Real-World Dexterous VLA Models","publication_year":2026,"publication_date":"2026-05-28","ids":{"openalex":"https://openalex.org/W7162755431","doi":"https://doi.org/10.48550/arxiv.2605.30226"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.30226","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.30226","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2605.30226","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5128794012","display_name":"Zhongxi Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Zhongxi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137390630","display_name":"Yifan Han","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Han, Yifan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137355264","display_name":"Yanming Shao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shao, Yanming","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137386015","display_name":"Huanming Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Huanming","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029589907","display_name":"Congsheng Xu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xu, Congsheng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137348104","display_name":"Xiaoyu Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Xiaoyu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137380566","display_name":"Yao Mu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mu, Yao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5137352609","display_name":"Wenzhao Lian","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lian, Wenzhao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":8,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.6204000115394592,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.6204000115394592,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.1492999941110611,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.05649999901652336,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/bridging","display_name":"Bridging (networking)","score":0.7595000267028809},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7276999950408936},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.4544999897480011},{"id":"https://openalex.org/keywords/action-selection","display_name":"Action selection","score":0.4471000134944916},{"id":"https://openalex.org/keywords/inefficiency","display_name":"Inefficiency","score":0.44530001282691956},{"id":"https://openalex.org/keywords/adaptation","display_name":"Adaptation (eye)","score":0.42309999465942383},{"id":"https://openalex.org/keywords/mirroring","display_name":"Mirroring","score":0.4083999991416931},{"id":"https://openalex.org/keywords/residual","display_name":"Residual","score":0.34929999709129333}],"concepts":[{"id":"https://openalex.org/C174348530","wikidata":"https://www.wikidata.org/wiki/Q188635","display_name":"Bridging (networking)","level":2,"score":0.7595000267028809},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7276999950408936},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7089999914169312},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.583899974822998},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.4544999897480011},{"id":"https://openalex.org/C166109690","wikidata":"https://www.wikidata.org/wiki/Q4677422","display_name":"Action selection","level":3,"score":0.4471000134944916},{"id":"https://openalex.org/C2778869765","wikidata":"https://www.wikidata.org/wiki/Q6028363","display_name":"Inefficiency","level":2,"score":0.44530001282691956},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.42309999465942383},{"id":"https://openalex.org/C189645446","wikidata":"https://www.wikidata.org/wiki/Q350865","display_name":"Mirroring","level":2,"score":0.4083999991416931},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.40070000290870667},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3549000024795532},{"id":"https://openalex.org/C155512373","wikidata":"https://www.wikidata.org/wiki/Q287450","display_name":"Residual","level":2,"score":0.34929999709129333},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.3292999863624573},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.30079999566078186},{"id":"https://openalex.org/C100776233","wikidata":"https://www.wikidata.org/wiki/Q2532492","display_name":"Bridge (graph theory)","level":2,"score":0.29679998755455017},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.2939000129699707},{"id":"https://openalex.org/C19768560","wikidata":"https://www.wikidata.org/wiki/Q320727","display_name":"Dependency (UML)","level":2,"score":0.2915000021457672},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.275299996137619},{"id":"https://openalex.org/C196340769","wikidata":"https://www.wikidata.org/wiki/Q7698910","display_name":"Temporal difference learning","level":3,"score":0.2711000144481659},{"id":"https://openalex.org/C2780490138","wikidata":"https://www.wikidata.org/wiki/Q7079636","display_name":"Offline learning","level":3,"score":0.263700008392334},{"id":"https://openalex.org/C136389625","wikidata":"https://www.wikidata.org/wiki/Q334384","display_name":"Supervised learning","level":3,"score":0.25760000944137573},{"id":"https://openalex.org/C2776544517","wikidata":"https://www.wikidata.org/wiki/Q189447","display_name":"Unexpected events","level":2,"score":0.25760000944137573}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.30226","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.30226","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.30226","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.30226","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Vision-Language-Action":[0],"(VLA)":[1],"models":[2],"have":[3],"emerged":[4],"as":[5,107,188],"a":[6,95,139,189,214,228],"promising":[7],"paradigm":[8],"for":[9,22,40,84],"grounding":[10],"visual-language":[11],"understanding":[12],"into":[13],"real-world":[14,36,85,149,180,197],"robotic":[15],"manipulation.":[16],"However,":[17,54],"dexterous":[18,52,56,86,120,198],"manipulation":[19],"remains":[20],"challenging":[21],"VLA":[23,87,135],"policies":[24],"due":[25],"to":[26,118,147,179,227],"high-dimensional":[27,55],"hand":[28,121],"control":[29],"and":[30,49,64,104,137,152,168,177,208,225],"compounding":[31],"execution":[32,150,175],"errors,":[33],"which":[34],"makes":[35],"RL":[37,80,211],"post-training":[38,81],"essential":[39],"bridging":[41],"the":[42,68,90,100,116,128,134,155,159,165,185],"gap":[43],"between":[44],"visually":[45],"grounded":[46],"action":[47,105],"generation":[48],"physically":[50],"reliable":[51],"execution.":[53],"exploration":[57],"often":[58],"triggers":[59],"temporal":[60],"inconsistency,":[61],"sample":[62],"inefficiency":[63],"hardware":[65],"risks":[66],"in":[67,218,231],"real":[69],"world.":[70],"To":[71],"address":[72],"these":[73],"challenges,":[74],"we":[75],"propose":[76],"BORA,":[77],"an":[78],"offline-to-online":[79],"framework":[82],"designed":[83],"models.":[88],"In":[89],"offline":[91,166],"phase,":[92,131],"BORA":[93,132,172,202],"constructs":[94],"critic":[96,117,167],"that":[97,201],"takes":[98],"both":[99],"VLM's":[101],"cognition":[102],"tokens":[103],"chunks":[106],"inputs.":[108],"This":[109],"design":[110],"enables":[111],"action-conditioned":[112],"value":[113],"guidance,":[114],"allowing":[115],"evaluate":[119],"motions":[122],"beyond":[123],"visual":[124],"context":[125],"alone.":[126],"During":[127],"subsequent":[129],"online":[130],"freezes":[133],"base":[136],"introduces":[138],"lightweight,":[140],"Human-in-the-Loop":[141],"(HiL)":[142],"chunk-wise":[143],"residual":[144],"adaptation":[145],"mechanism":[146],"mitigate":[148],"errors":[151],"further":[153],"correct":[154],"offline-learned":[156],"intents":[157],"within":[158],"actual":[160],"physical":[161,181],"environment.":[162],"By":[163],"inheriting":[164],"employing":[169],"intervention-driven":[170],"rewards,":[171],"effectively":[173],"corrects":[174],"discrepancies":[176],"adapts":[178],"variances":[182],"while":[183],"preserving":[184],"pretrained":[186],"policy":[187],"stable":[190],"prior.":[191],"Extensive":[192],"evaluations":[193],"across":[194],"five":[195],"complex":[196],"tasks":[199],"demonstrate":[200],"significantly":[203],"outperforms":[204],"pure":[205],"imitation":[206],"learning":[207],"traditional":[209],"decoupled":[210],"baselines,":[212],"achieving":[213],"33%":[215],"absolute":[216],"increase":[217],"average":[219],"success":[220],"rate":[221],"under":[222],"standard":[223],"settings":[224],"up":[226],"43%":[229],"improvement":[230],"unseen":[232],"object":[233],"generalization.":[234]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-05-30T00:00:00"}