# π-StepNFT: A Step-wise Negative-aware Online Reinforcement Learning Framework for Streaming VLAs

- Source: arXiv cs.RO
- Published: 2026-11-02T05:00:00.000Z
- RoboHot: https://robohot.news/en/items/zocznupf4xh07rx7ayq91tqsv
- Original: https://arxiv.org/abs/2603.02083

## Summary

The authors propose π-StepNFT, an online reinforcement learning framework for streaming VLAs that treats transitions in SDE sampling as supervision units and uses variance-normalized transition errors to distinguish positive and negative velocity branches, without computing the final-action likelihood.