When Instructions Retrieve Trajectories: Diagnosing and Mitigating Generalization Failures in VLA Models
The analysis of the imitation objective shows how narrow conditional action support can leave grounded and instruction-keyed solutions indistinguishable on the demonstrations, and motivates Equivariant Counterfactual Training (ECT), which acts at two levels.
Hung-Jen Chen, Yue-Ling Hou, Yan-Hong Chen et al.
· 0 citations