arxivcs.RO2026-07-04
Look Before You Leap: Distilling Tree Search into Action Evaluation for Frozen VLA Models
Xinyi Xie, Zican Hu, Zhanyu Liu, Yicheng Dong, Wenhao Wu, Zhenhong Sun, et al.
Vision-Language-Action (VLA) models acquire broad embodied capabilities through large-scale pretraining, yet their generalization remains far more fragile than that of LLMs and VLMs. The prevailing remedy, post-training via supervised fine-tuning or reinforcement learning, improv…