Outcome-Conditioned End-Effector Geometry Across Vision-Language-Action Policies
Vision-language-action (VLA) policies solve the same manipulation task through different action interfaces, but task success alone does not establish whether their physical executions agree. We study cross-policy end-effector geometry in 15,000 closed-loop LIBERO rollouts from four policies. The primary clean-condition analysis forms 3,600 configuration-matched, and therefore dependent, policy pairs. Both-success pairs have a median normalized dynamic time warping distance of 0.0120 m versus 0.0380 m when exactly one policy succeeds. This ordering holds in every task, every policy pair, and nine sampling and band-limited representations; however, the ratio varies severalfold across repres...
| Authors | Xingyu Lin, Zhuang Li, Zhongrun Wu et al. |
|---|---|
| Primary category | cs.RO |
| Published | 18 September 2026 |
| Last updated at source | 23 September 2026 |
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