Exploring the Limits of Combinatorial Generalization in Embodied Manipulation
In embodied manipulation, Vision Language Action (VLA) models can execute atomic skills, but long-horizon manipulation requires recombining these skills without demonstrations for every skill combination. The full instruction route treats skill chaining as long-horizon imitation. In a controlled study, full instruction training on limited skill combination sequences reaches 40.0% ordered success on covered combinations but only 7.7% on recombination, suggesting memorization of sequence templates rather than robust skill recombination. We introduce Hierarchical Subtask Execution (HSE), a diagnostic framework that exposes skill recombination through a shared modular interface over the planner,
| Authors | Xupeng Zhang, Yantai Yang, Chang Guo et al. |
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| Published | 11 October 2026 |
| Last updated at source | — |
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