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arXiv · 2607.20345

Closing the Lab-to-Store Gap: A Data-Efficient Post-Training and Experience-Driven Learning VLA Framework for Retail Humanoids

Roger Sala Sisó·Tiago Silvério·Jakob Sand·Tran Nguyen Le
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Abstract

Closing the gap between benchmark performance and reliable real-world operation remains a central challenge for Vision-Language-Action (VLA) humanoid robots, which must handle execution errors, distribution shifts, and environmental variability. This paper presents DEED (Data-Efficient Post-Training and Experience-Driven Learning), a systems-level approach evaluated on a supermarket chip-restocking task using a Unitree G1-Edu humanoid robot and the GR00T N1.6 foundation model. DEED comprises three key components: (1) a data-efficient post-training pipeline with control-frequency alignment, data curation, task-relevant visual highlighting, and reduced VLA dependence; (2) a real-world study of experience-driven refinement, adapted from RECAP via a text-based advantage prefix and a vision-language value function; and (3) a latent-space analysis tool for studying in- and out-of-distribution behavior. Our results suggest that bridging the lab-to-store gap is primarily a systems integration challenge rather than an architectural one: careful data design and targeted post-training can transform a policy that fails under naive fine-tuning into a competent real-world system using only a single GPU.

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Roger Sala Sisó, Tiago Silvério, Jakob Sand, Tran Nguyen Le. 2026-07-22. Closing the Lab-to-Store Gap: A Data-Efficient Post-Training and Experience-Driven Learning VLA Framework for Retail Humanoids. https://arxiv.org/abs/2607.20345

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