ACRO: Actor-Critic Rollout Orchestration

arXiv:2610.19677 · cs.RO · Submitted 2026-10-14 · Read on arXiv

cs.RO

Submitted: 2026-10-14

Updated: 2026-10-14

Comments: 18 pages

Project page: https://junhoo.me/acro

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Actor — 1× in this paper · explained in 3 episodes

Sources

• Addressing the Orchestration Gap in Generalist Robots via Physical Agency
• RoboMonkey: Scaling Test-Time Sampling and Verification for Vision-Language-Action Models
• CycleVLA: Proactive Self-Correcting Vision-Language-Action Models via Subtask Backtracking and Minimum Bayes Risk Decoding

Related papers

• FMT x: An Efficient and Asymptotically Optimal Extension of the Fast Marching Tree for Dynamic Replanning
• MPCFormer: A physics-informed data-driven approach for explainable socially-aware autonomous driving
• RoboLab: A High-Fidelity Simulation Benchmark for Analysis of Task Generalist Policies
• ARC: A Reasoning Recipe for Robot Foundation Models
• HRDexDB: A 4D Dexterous Grasping Dataset Across Human and Multiple Robot Embodiments
• APT: Action Expert Pretraining Improves Instruction Generalization of Vision-Language-Action Policies