We’re actively working on several fronts to accelerate development and ensure maximum efficiency, with the goal of reaching the market quickly. This week, we focused on the following areas:
1. VLA Fine-Tuning & Adaptation Pipeline
We are working on our VLA SDK to support open-weight models including SmolVLA and Pi0 for now, with GrootN1.5 planned for near future, each offering different trade-offs between model size, inference speed, and generalization.
Our current focus is on implementing action-head only fine-tuning using QLoRA (where required) a technique that allows efficient training on consumer-grade GPUs while preserving the pretrained vision-language backbone.
This approach enables us to remap the model’s action space for different robotic configurations, essentially allowing a single VLA to learn how to control new hardware modules (arms, grippers, mobility units, etc.) without degrading its multimodal reasoning ability.
By isolating adaptation to the action head, we maintain the core representation and generalization power of the model while making it contextually aware of our new robotic action space.
2. Reinforcement Learning for Low-Level Control Policy
Parallel to the VLA pipeline, we are working on setting up a PyBullet-based physics simulation environment designed for large-scale reinforcement learning experiments.
This environment trains neural control policies using Proximal Policy Optimization (PPO) and SAC algorithm, two state-of-the-art algorithms for continuous control.
These RL policies are being trained to handle locomotion, balance and stability under dynamically changing environments and turbulences, leveraging parallel simulation for faster convergence and robustness.
3. The key architectural principle here is hierarchical separation of control:
The VLA acts as the top-level planner, interpreting natural language commands, visual input, and task context.
The RL policy serves as the low-level actuator, executing smooth, stable movements in real time at higher action frequencies.
This separation allows the system to combine semantic intelligence with physical resilience making our robots adaptable to diverse terrains, mechanical modules and environmental uncertainties, far beyond what conventional PID or trajectory-based controllers can achieve.
Together, these two components form the backbone of our Physical AI stack , a system designed to reason, adapt, and act seamlessly across our robotics stack.