Same Scene, Different Task: Skill Alignment for Compositional Generalization in VLAs
Vision-language-action (VLA) models often struggle to generalize to skill combinations absent from their fine-tuning demonstrations, even when every constituent skill has been demonstrated. We focus on a vision shortcut as one failure mode: during fine-tuning, visual observations can serve as a proxy for the instruction, so a policy may execute a demonstrated combination associated with similar observations rather than the instructed combination. This motivates training with counterfactual pairs formed by holding a demonstration observation fixed while changing the instruction to specify an undemonstrated combination. These pairs, however, lack corresponding demonstrated action targets. C...
| Authors | Taegeun Yang, Youngju Na, Yoonki Cho et al. |
|---|---|
| Primary category | cs.RO |
| Published | 30 September 2026 |
| Last updated at source | 30 September 2026 |
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