Z-1: Efficient Reinforcement Learning for Vision-Language-Action Models

Vision-Language-Action (VLA) models offer a promising framework for robotic manipulation by connecting language instructions, visual observations, and continuous control.

However, most existing policies remain limited by behavior cloning or supervised fine-tuning (SFT) from fixed demonstrations, which provides limited opportunity to improve from the policy's own failures.

In this paper, we present Z-1, a reinforcement learning (RL) post-training framework for flow-based VLA models.

Built on top of $\pi_{0.5}$, Z-1 uses only publicly released RoboCasa demonstrations for SFT and then applies a task-wise Group Relative Policy Optimization (GRPO) strategy across $24$ standard RoboCasa tasks.

To improve the efficiency and stability of online optimization, Z-1 combines shared-prefix rollout construction, tree-structured trajectory branching, completion-aware reward calibration, and selective joint training of VLM and Action Expert.

Across all $24$ RoboCasa tasks, Z-1 achieves an average success rate of $80.6\%$, improving over its SFT initialization by $13.2\%$ points and outperforms the published sota models.

These results show that systematic GRPO post-training can substantially improve flow-based VLA policies without additional private demonstrations.