#imitation learning

Reinforcement Learning Primer September 4, 2026

π0 Explained — How Flow Matching Changed VLA Action Generation

A source-based technical guide to Physical Intelligence's π0: the PaliGemma VLM and dedicated Action Expert, continuous action generation with conditional flow matching, cross-embodiment training across seven robot types, and the difference from autoregressive VLA models such as RT-2 and OpenVLA.

Fundamentals · 11 min Reinforcement Learning Primer September 3, 2026

Reinforcement Learning Primer: Imitation Learning and Inverse Reinforcement Learning

Behavior Cloning, DAgger, and inverse reinforcement learning use demonstrations when rewards are hard to write. This primer covers covariate shift, reward inference, VLA connections, evaluation, safety, and data provenance.

Fundamentals · 5 min