Compositional Shift Algebra: Extrapolating Mixed Robot Shifts Without Mixed Finetuning
Robot deployments rarely change one mechanism at a time: cameras, action interfaces, and physical dynamics often shift together. Prior adaptation recipes either finetune a new model for every mix or attempt to select which module to update. We instead learn shift operators on a modular stack z{=}E(o), a{=}g(z,u), z'{=}f(z,a) and compose them. Compositional Shift Algebra (CSA) fits single-factor observation, policy, and dynamics operators from exact-reset probes, then extrapolates held-out mixed shifts by operator composition---without mixed-shift finetuning. On ManiSkill StackCube, residual CSA matches an oracle mixed inverse on held-out mixes (success 1.0 over 10 seeds) while beating bes...
| Authors | Jinting Hang, Zhenhui Cai |
|---|---|
| Primary category | cs.RO |
| Published | 12 September 2026 |
| Last updated at source | 12 September 2026 |
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