arXiv cs.LGPaper
Pretraining Knows What, Simulation Teaches How: Compositional Generalization in a Sim-Trained Robot Agent
This is the economics shift that matters for embodied AI. Pretraining for understanding, simulation for control, GRPO for fine-tuning, and you get frontier performance at a fraction of frontier cost. For robotics builders, this is your signal that you no longer need to wait for specialized embodied models. A cheaper, faster approach is here. Start experimenting with this recipe on your tasks.