MobileVLA-R1 2.0: RL-Enhanced Reasoning for Mobile Robot Control
Summary
MobileVLA-R1 2.0 is an RL-enhanced vision-language-action framework that couples structured reasoning with mobile robot control, achieving improvements in long-horizon instruction following on real-world platforms.
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Paper page - MobileVLA-R1 2.0: RL-Enhanced Reasoning for Mobile Robot Control
Source: https://huggingface.co/papers/2609.06251
Abstract
MobileVLA-R1 2.0 couples structured reasoning with robot control via chain-of-thought alignment and reinforcement learning to improve long-horizon mobile robot instruction following.
Grounding natural-language instructions into reliable and executable actions remains a fundamental challenge forvision-language-action(VLA) systems on mobile robots, due to the persistent gap between high-level semantic reasoning and low-level locomotion and manipulation control. Existing approaches often rely on implicit reasoning or monolithic action prediction, making it difficult to maintain coherent long-horizon decision making while producing precise and adaptable robot actions. To address this challenge, we propose MobileVLA-R1 2.0, an RL-enhanced VLA framework that explicitly couples structuredembodied reasoningwith executablemobile robot control. The framework learns multi-granularity reasoning over embodied trajectories through supervisedChain-of-Thought(CoT) alignment andreinforcement learning, improving reasoning-to-action consistency beyond purely behavioral supervision. To support both locomotion and manipulation, we further introduce areasoning-conditioned action decoderthat mapsmultimodal reasoningrepresentations to task-level action targets, which are subsequently translated into embodiment-specific commands by robot controllers. This design provides a unified perception-reasoning-action interface while decoupling high-level action generation from robot-specific actuation. We conduct extensive evaluations on language-guided navigation, quadruped control, and humanoid mobile manipulation, covering VLN-CE, QUARD, and real-world deployments on Unitree Go2 and G1 robots. MobileVLA-R1 2.0 consistently outperforms strong VLA baselines, achieving an average 1.6 point improvement in SR on VLN-CE and a 10.0 point improvement in full-task success on real-world G1 mobile manipulation tasks over MobileVLA-R1, while demonstrating robust long-horizon instruction following and closed-loop execution across different robotic platforms.
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