Article

CaPtain: A pipeline for post-training small open VLMs into code-as-policy robot agents

CaPtain proposes an open post-training pipeline that trains small open vision-language models (VLMs) into code-as-policy (CaP) robot agents, without relying on VLAs, frontier models, or privileged state at test time. The pipeline first performs supervised fine-tuning on synthetic trajectories generated by GPT-6 Astra, then applies multi-turn reinforcement learning, introducing a physics critic that reads simulator privileged state to assign credit to each request.

Part of the event: CaPtain: Small VLMs Post-Trained into Code-as-Policy Robot Agents

This page provides a summary and source link only.