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Recent work attempts to use learned world models as simulators for policy optimization, yet closed-loop imagined rollouts inevitably suffer from hallucination and long-horizon error accumulation. Such errors not only degrade visual fidelity, but also mislead policy optimization by providing unreliable learning signals. We propose WoVR, a reliable world-model-based RL framework for post-training VLA policies. Instead of assuming a faithful world model, WoVR explicitly regulates how RL interacts with imperfect imagined dynamics. It improves rollout stability through a controllable action-conditioned video world model, reshapes imagined interaction to reduce effective error depth via Keyframe-Initialized","title":"WoVR: World Models as Reliable Simulators for Post-Training VLA Policies with RL","url":"https://arxiv.org/abs/2602.13977","vendor":"arxiv_cs_ai"},"summary":"arXiv:2602.13977v2 Announce Type: replace-cross \nAbstract: Reinforcement learning (RL) promises to unlock capabilities beyond imitation learning for Vision--Language--Action (VLA) models, but its requirement for massive real-world interaction prevents direct deployment on physical robots. Recent work attempts to use learned world models as simulators for policy optimization, yet closed-loop imagined rollouts inevitably suffer from hallucination and long-horizon error accumulation. Such errors not only degrade visual fidelity, but also mislead policy optimization by providing unreliable learning signals. We propose WoVR, a reliable world-model-based RL framework for post-training VLA policies. Instead of assuming a faithful world model, WoVR explicitly regulates how RL interacts with imperfect imagined dynamics. It improves rollout stability through a controllable action-conditioned video world model, reshapes imagined interaction to reduce effective error depth via Keyframe-Initialized","title":"WoVR: World Models as Reliable Simulators for Post-Training VLA Policies with RL","vendor":"arxiv_cs_ai"},"confidence":{"method":"deterministic"},"decision":"POSITIVE","issued_at":"2026-06-30T04:43:04Z","notes":"Spider vendor_press (news) news.vendor_press.v1","object":{"captured_by":"crovia.spider.vendor_press","primary_source_url":"https://arxiv.org/abs/2602.13977"},"predecessors":[],"schema":"crovia.axiom.v1","signature":"ed25519:1f5f918867415e310124a97b605019af6038703c07d99ca4557ad5f7284d0117258ed690ccea959ce972a45e6ce8ec67a9c764d45e6f7f426a9f31bc64851f0b","signer":"crovia.substrate","subject":{"observed_at":"2026-06-30T04:43:04Z","source_collector":"spider:vendor_press","target_id":"https://arxiv.org/abs/2602.13977"},"tsa":{"authority":"crovia.substrate.bootstrap","rfc3161_token":"{\"kind\":\"crovia.bootstrap.tsa\",\"source_jsonl\":\"/opt/crovia/spider/data/news/vendor_press_v1.jsonl\",\"source_seal_merkle_root\":\"spider_vendor_press_v1\",\"upgrade_path\":\"Sessione H \\u2014 OpenTimestamps weekly anchor\"}"},"zk_mode":"clear","zk_proof":null},"ledger":{"leaf_hash":"af3d70d41c7700fcd2d8560b22bbfb55cfcf5f3ae886a965f8cd8fcab2abd180","leaf_index":265162,"ledger_path":"/opt/crovia/substrate/axiom_ledger.jsonl"},"merkle_proof":{"hash_alg":"sha256","leaf_prefix":"0x00","node_prefix":"0x01","odd_leaf_rule":"duplicate_last","path":[{"sibling":"53f0cf92aaf7c5be3fdb7797a34c1f31816ee0e3a8faa7965712e5f1fb65eda9","side":"right"},{"sibling":"c8edd68b249ae9efd062e23092d1d551a4fd6ea4233d66a6b9746e2e18b5ccf9","side":"left"},{"sibling":"f26c46e4c6d632e784ae4728c108dd2384cad549d9223b6c031c74238d8acb01","side":"right"},{"sibling":"4849c3ec98fd14ec54d7f6c3b127144095c957173fb46b2f6902d65a0ed976e6","side":"left"},{"sibling":"dc32ba060b5d611ecebc07cf6204b322b6f9cafeafe75b1eaa2215b55130bd9e","side":"right"},{"sibling":"3fb867ee9df8a1332d16946fcce8990ede3e11336f27d00d42bfcb728aeabc3c","side":"right"},{"sibling":"5289e8ce54e43e43a6993c090a3cf97c23f76dc4d3199096b65fcfa71cb4cf7e","side":"left"},{"sibling":"10a48a93a0ff0e4d8f47e9a90582ecaf28e7ec0eb7e47a52bf101e3640d950f9","side":"left"},{"sibling":"3f337e26f1a0c4c64b8b7ebac04427325a7e7838c802c162576de1cd617b91ce","side":"left"},{"sibling":"1549a8883ab3267f958dc2624919e40c65c82958b8005967ed6a4da1247da0ad","side":"left"},{"sibling":"23994bf0974e5c9c7f63a61b4f0a48b0ca756a4adc34a8f85f878e774c37dfbe","side":"right"},{"sibling":"f9b4bed84fa6990c71ad2887c91bda183001f05f6b648f21d1273045a26b11fd","side":"left"},{"sibling":"173d2dc4b29ee04ea41d6d0ebc334c4bc2d46e7ee4230c94765413f24fb4bc42","side":"right"},{"sibling":"112461f7c0ec411116fb5c6c90fe95cea9d8f188b9fe08afe25a837ac02d0071","side":"right"},{"sibling":"ea9488204352c49db8f7daf05eefcd7628ecf9413830346674801a99d0654a94","side":"right"},{"sibling":"6261c13b9922cb657f10d1e5d36ec15d8771cf8766e36c61dcbffb7bed57e396","side":"right"},{"sibling":"fa19aa3faf287618b820bcfceebb366152ad521dd20ef9f51e977816663e448b","side":"right"},{"sibling":"c32f943406b62d1fc59b7f7e243492174c8e1caba8c8a2705f86c773315736e0","side":"right"},{"sibling":"1cecb7f447febd025aac272837c80de218aecc6485d2395a509b2a1f1b9c746e","side":"left"}]},"schema":"crovia.axiom_proof.v1","seal":{"first_collector_run_id":"","first_receipt_hash":"","jsonl_path":"/opt/crovia/substrate/axiom_ledger.jsonl","key_id":"430895f101d38164","last_collector_run_id":"","last_receipt_hash":"","leaf_count":265374,"merkle_root":"9636001ecab173cb6af10dc7c71eb14585daa62f9c0a6f027046f05633156891","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","run_id":"hourly_json_retrofit_20260630T053701Z","schema":"crovia.seal.v1","seal_family_version":"crovia-seal-family/1","seal_kind":"substrate_batch","sealed_at":"2026-06-30T05:38:03Z","sig_algorithm":"ed25519","signature":"6d4b8fd9b9da856cbb5fba7540877c6a63fa18a5ec3eaf28dc4d6d1c64921c9c0565f8c95f4b7aec0e7744fd7754844f051baf863db708cad768765b416a7b0c","signer_version":"1.1.0"},"trust_root":{"key_id":"430895f101d38164","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","signature_algorithm":"ed25519","url":"/registry/canon/TRUST_ROOT.md"},"verifier":{"spec":"/registry/canon/AXIOM_RECEIPT_v1.md","url":"/v/axm_82c002af898e1d8f7c6c80e7dfb68422a239f0885a7ad98afa56b46b5be9da83"}}