π-StepNFT: Wider Space Needs Finer Steps in Online RL for Flow-based VLAs
Authors: name: Siting Wang, name: Xiaofeng Wang, name: Zheng Zhu, name: Minnan Pei, name: Xinyu Cui, name: Cheng Deng, name: Jian Zhao, name: Guan Huang, name: Haifeng Zhang, name: Jun Wang
Organization: GigaAI-Research

Flow-based vision-language-action (VLA) models excel in embodied control but suffer from intractable likelihoods during multi-step sampling, hindering online reinforcement learning. We propose \textit{boldsymbolπ-StepNFT} (Step-wise Negative-aware Fine-Tuning), a critic-and-likelihood-free framework that requires only a single forward pass per optimization step and eliminates auxiliary value networks. We identify that wider exploration spaces necessitate finer-grained, step-wise guidance for alignment. Empirically, π-StepNFT unlocks latent potential on LIBERO with competitive few-shot robustness. Moreover, it achieves superior generalization on ManiSkill, outperforming value-based baselines in OOD scenarios by preventing overfitting to multimodal features. This property offers a scalable solution promising for complex real-world applications.