# ACRO：Actor-Critic Rollout 编排

> 原文链接：https://robotics.hellobike.com/papers/2026-10-14-2610-19677
> 频道：papers | 更新日期：2026-10-14 | 标签：arxiv, cs.RO
> 核心摘要：ACRO解决固定VLA执行中何时继续或干预的问题，用Critic与轨迹回退编排恢复，并在仿真和真机操作验证。

# ACRO：Actor-Critic Rollout 编排

::: v-pre
> 原文链接：[ACRO: Actor-Critic Rollout Orchestration](https://arxiv.org/abs/2610.19677)（arXiv 2610.19677 · 发布日期：2026-10-14）

**ACRO: Actor-Critic Rollout Orchestration**

ACRO解决固定VLA执行中何时继续或干预的问题，用Critic与轨迹回退编排恢复，并在仿真和真机操作验证。

## 核心要点

- VLA执行需要判断何时继续尝试、何时干预以提高成功机会。
- ACRO在固定VLA外加入Actor-Critic层，寻找更有前景且物理可行的介入。
- Critic由策略rollout学习，选择介入时机和已执行轨迹上的重入目标。
- 在相同物理执行预算下，ACRO在三类评估中成功率分别提升10.4、7.3、21.7个百分点。

**验证范围与局限**：验证范围为GR00T N1.7和π0.5，在SimplerEnv、RoboCasa及真机操作上评估。

## 英文摘要 (Abstract)

Executing a vision-language-action (VLA) policy involves deciding when to continue an attempt and when to intervene to improve its chances of success. We introduce ACRO, an Actor--Critic rollout orchestration layer that makes these decisions for a fixed VLA. ACRO seeks interventions that offer a more promising continuation, are physically feasible, and leave sufficient time to complete the task. A Critic learned from policy rollouts estimates success prospects to decide when to intervene and select a re-entry target along the executed trajectory. Trajectory Retraction shortcuts the visited path to return the robot to that target, where the same VLA resumes execution from a fresh observation. We evaluate ACRO with GR00T N1.7 and $π_{0.5}$ across SimplerEnv, RoboCasa, and real-robot manipulation. Under the same physical execution budget, including all return motion, ACRO improves success by 10.4, 7.3, and 21.7 percentage points, respectively. It also completes additional tasks as the execution budget grows. These results show that controlling when and where a policy resumes can turn its existing capabilities into more successful task executions. Project page: https://junhoo.me/acro

作者：Junhoo Lee, Seungyeon Kim, Baekseung Kim, Minkyu Kim, Suhyun Jeon, Jimyeong Kim, Nojun Kwak
:::

## 原始参考来源 (Sources)

- [arXiv 2610.19677：ACRO: Actor-Critic Rollout Orchestration](https://arxiv.org/abs/2610.19677)