# ZAP: Pretraining handles understanding, simulation training teaches robot motion

- Source: arXiv cs.RO
- Published: 2026-10-27T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/i57c7r1errjftz7tmgtqfkkps
- Original: https://arxiv.org/abs/2610.35817

## Summary

The authors propose Zero-real Agent Policy (ZAP), which uses a pretrained 27B-parameter vision-language model with a simple tool interface to control a robot, trained via supervised fine-tuning and GRPO on simple simulated tasks, without using any real robot data during training.