Author

Chaoda Song

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#machine learning Preprint Sep 2026

Correcting WHERE, Preserving HOW: Compositional Generalization for Vision-Language-Action Models via Referential Guidance

While Vision-Language-Action (VLA) models enable flexible action generation, their generalization across diverse environmental elements, including manipulated objects, destinations, and backgrounds, is limited by the lack of diversity in robotic training data. Trained end-to-end on such data, VLAs tend to exploit visua...

Yan-Yan Zhang, Di-Sheng Liu, Xin-Peng Li et al. · 0 citations

Preprint Aug 2026

Imagining Recovery: Inference-Time Counterfactual Realignment for Vision-Language-Action Models

Counterfactual Realignment (CoRe), a training-free framework that recovers a frozen VLA at inference time without failure data, is proposed, a training-free framework that recovers a frozen VLA at inference time without policy fine-tuning or failure-specific recovery training.

Yan-Yan Zhang, Di-Sheng Liu, Kai Ye et al. · 1 citation