DISC: Decoupling Instruction from State-Conditioned Control via Policy Generation
Language-conditioned manipulation policies typically process instructions and observations through shared network parameters. This task-state entanglement provides a pathway for observation leakage -- networks learn scene-to-action shortcuts that bypass language grounding entirely. DISC eliminates this failure structurally. Rather than conditioning a universal policy on language, DISC uses a hypernetwork to generate the entire parameter set of a task-specific visuomotor policy from the instruction alone. The generated policy never directly accesses language; therefore, its task-awareness must come from the language. Consequently, observation leakage has no pathway to emerge. On the other ...
| Authors | Hanxiang Ren, Pei Zhou, Xunzhe Zhou et al. |
|---|---|
| Primary category | cs.RO |
| Published | 20 May 2026 |
| Last updated at source | 20 May 2026 |
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