@inproceedings{wu-etal-2026-policy,
title = "On-policy Reinforcement Fine-tuning with Offline reward for Multi-step Embodied Planning",
author = "Wu, Di and
Fan, Jiaxin and
Gu, Chloe and
Wang, Guanbo and
Yin, Wei and
Li, Wenhao and
Jin, Bo",
editor = "Liakata, Maria and
Moreira, Viviane P. and
Zhang, Jiajun and
Jurgens, David",
booktitle = "Proceedings of the 64th Annual Meeting of the {A}ssociation for {C}omputational {L}inguistics (Volume 1: Long Papers)",
month = jul,
year = "2026",
address = "San Diego, California, United States",
publisher = "Association for Computational Linguistics",
url = "https://aclanthology.org/2026.acl-long.1822/",
pages = "39277--39307",
ISBN = "979-8-89176-390-6",
abstract = "Embodied planning requires agents to make coherent multi-step decisions based on dynamic visual observations and verbal goals. While recent vision-language models (VLMs) excel at static perception tasks, they struggle in interactive environments. Reinforcement learning (RL) offers a natural way to address this limitation, yet online RL approaches suffer from costly interaction and sparse rewards in embodied settings. This paper introduces ORBIT, an On-policy Reinforcement fine-tuning (RFT) framework with offline rewards for EmBodIed Task Planning, that preserves the generalization benefits of RFT while addressing the challenges of costly interaction and sparse rewards, supported by solid theoretical guarantees. Our approach is evaluated on EmbodiedBench, a recent benchmark for interactive embodied tasks, covering both in-domain and out-of-domain scenarios. Experimental results show that ORBIT achieves SOTA performance on EB-ALFRED, outperforming all closed-source and online-RL-based methods, while being substantially more efficient in training speed and computational cost, remaining robust to sub-optimal expert trajectories, and exhibiting strong generalization to unseen environments. We released all code and data at https://github.com/mail-taii/Reinforced-Reasoning-for-Embodied-Planning."
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<abstract>Embodied planning requires agents to make coherent multi-step decisions based on dynamic visual observations and verbal goals. While recent vision-language models (VLMs) excel at static perception tasks, they struggle in interactive environments. Reinforcement learning (RL) offers a natural way to address this limitation, yet online RL approaches suffer from costly interaction and sparse rewards in embodied settings. This paper introduces ORBIT, an On-policy Reinforcement fine-tuning (RFT) framework with offline rewards for EmBodIed Task Planning, that preserves the generalization benefits of RFT while addressing the challenges of costly interaction and sparse rewards, supported by solid theoretical guarantees. Our approach is evaluated on EmbodiedBench, a recent benchmark for interactive embodied tasks, covering both in-domain and out-of-domain scenarios. Experimental results show that ORBIT achieves SOTA performance on EB-ALFRED, outperforming all closed-source and online-RL-based methods, while being substantially more efficient in training speed and computational cost, remaining robust to sub-optimal expert trajectories, and exhibiting strong generalization to unseen environments. We released all code and data at https://github.com/mail-taii/Reinforced-Reasoning-for-Embodied-Planning.</abstract>
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%0 Conference Proceedings
%T On-policy Reinforcement Fine-tuning with Offline reward for Multi-step Embodied Planning
%A Wu, Di
%A Fan, Jiaxin
%A Gu, Chloe
%A Wang, Guanbo
%A Yin, Wei
%A Li, Wenhao
%A Jin, Bo
%Y Liakata, Maria
%Y Moreira, Viviane P.
%Y Zhang, Jiajun
%Y Jurgens, David
%S Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers)
%D 2026
%8 July
%I Association for Computational Linguistics
%C San Diego, California, United States
%@ 979-8-89176-390-6
%F wu-etal-2026-policy
%X Embodied planning requires agents to make coherent multi-step decisions based on dynamic visual observations and verbal goals. While recent vision-language models (VLMs) excel at static perception tasks, they struggle in interactive environments. Reinforcement learning (RL) offers a natural way to address this limitation, yet online RL approaches suffer from costly interaction and sparse rewards in embodied settings. This paper introduces ORBIT, an On-policy Reinforcement fine-tuning (RFT) framework with offline rewards for EmBodIed Task Planning, that preserves the generalization benefits of RFT while addressing the challenges of costly interaction and sparse rewards, supported by solid theoretical guarantees. Our approach is evaluated on EmbodiedBench, a recent benchmark for interactive embodied tasks, covering both in-domain and out-of-domain scenarios. Experimental results show that ORBIT achieves SOTA performance on EB-ALFRED, outperforming all closed-source and online-RL-based methods, while being substantially more efficient in training speed and computational cost, remaining robust to sub-optimal expert trajectories, and exhibiting strong generalization to unseen environments. We released all code and data at https://github.com/mail-taii/Reinforced-Reasoning-for-Embodied-Planning.
%U https://aclanthology.org/2026.acl-long.1822/
%P 39277-39307
Markdown (Informal)
[On-policy Reinforcement Fine-tuning with Offline reward for Multi-step Embodied Planning](https://aclanthology.org/2026.acl-long.1822/) (Wu et al., ACL 2026)
ACL
- Di Wu, Jiaxin Fan, Chloe Gu, Guanbo Wang, Wei Yin, Wenhao Li, and Bo Jin. 2026. On-policy Reinforcement Fine-tuning with Offline reward for Multi-step Embodied Planning. In Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers), pages 39277–39307, San Diego, California, United States. Association for Computational Linguistics.