How to Better Train VLAs: Lessons Learned From the REAL-I Challenge at ICRA 2026

Jiaming Wang; Jizhuo Chen; Diwen Liu; Wang Song; Qiang Wang; Jie Ren; Chao Fu; Dingkun Zhu; Minchi Ruan; Hongtong Li; Yuhua Jiang; Zhiwei Xue; Yongping Pan; Harold Soh

arXiv · 2609.13679

How to Better Train VLAs: Lessons Learned From the REAL-I Challenge at ICRA 2026

Jiaming Wang·Jizhuo Chen·Diwen Liu·Wang Song·Qiang Wang·Jie Ren·Chao Fu·Dingkun Zhu·Minchi Ruan·Hongtong Li·Yuhua Jiang·Zhiwei Xue·Yongping Pan·Harold Soh

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Abstract

How can robot policies learn more effectively from a fixed demonstration budget? The first Real-world Embodied AI Learning (REAL-I) Challenge at ICRA 2026 examined this question through simulation, real-robot evaluation, and an on-site final on a shared dual-arm humanoid platform. We describe the challenge tasks, data and deployment interfaces, and competition results, then compare the approaches contributed by NUS-CLEAR, RCL-Lab, and DeepTouch AI. Their systems combined pretrained vision-language-action models and task-specific imitation policies with different strategies for data curation, staged adaptation, checkpoint selection, and action-space design. The team reports highlight the importance of adapting to the deployment environment while retaining prior capabilities, treating demonstration quality at an appropriate temporal scale, and suppressing errors in inactive robot components. They also expose the limitations of offline action-prediction metrics for forecasting closed-loop success. These observations motivate a view of fixed-data robot learning that integrates data, adaptation, evaluation, and deployment.

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Jiaming Wang, Jizhuo Chen, Diwen Liu, Wang Song, Qiang Wang, Jie Ren, Chao Fu, Dingkun Zhu, Minchi Ruan, Hongtong Li, Yuhua Jiang, Zhiwei Xue, Yongping Pan, Harold Soh. 2026-09-17. How to Better Train VLAs: Lessons Learned From the REAL-I Challenge at ICRA 2026. https://arxiv.org/abs/2609.13679

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