Q-VGM: Q-Value-Gradient Matching for Off-Policy Reinforcement Learning of Flow-Matching VLA

Abstract:We propose Q-Guided Value-Gradient Matching (Q-VGM), an off-policy reinforcement learning method for a central difficulty in fine-tuning flow-matching vision-language-action (VLA) policies: improving an expressive flow-matching action expert with a learned $Q$-function. Effective improvement must exploit the critic's first-order signal $\nabla_A Q$, yet flow policies make this hard: backpropagating values through the multi-step denoising chain is unstable at VLA scale, and the tractable action likelihoods required by policy gradients are unavailable under iterative denoising. Existing value-based methods therefore backpropagate through the full chain, use the critic only for test-time selection or guidance, or distill critic-improved actions as terminal labels that never supervise the velocity field. Q-VGM instead casts policy improvement as optimal control over the denoising dynamics, where the optimal residual velocity is the gradient of a denoising-time value function: clean-action estimates improved by iterative $Q$-gradient ascent with keep-best selection are converted into residual velocity targets that directly supervise the velocity field -- no action likelihoods, no backpropagation through the denoising chain, fully offline on a fixed replay buffer, and no critic at inference time. The critic is an action-sensitive stepwise IQL critic on compact latent states from the frozen VLA backbone. This enables a few-shot-initialization, learn-from-experience paradigm: starting from a few-shot-SFT $\pi_{0.5}$ policy, Q-VGM improves the policy from its own rollouts without additional expert supervision, raising the average LIBERO success rate from 79.0% to 92.5%, outperforming all same-backbone, same-critic baselines, and attaining high success rates on four real-robot manipulation tasks, including fine-grained plug insertion.

Robotics (cs.RO)

arXiv:2606.08015 [cs.RO]

(or arXiv:2606.08015v2 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2606.08015 Focus to learn more arXiv-issued DOI via DataCite

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