arxivcs.RO2026-07-07
Diagnosing Semantic Handoff Failures in Agent-Orchestrated Vision-Language-Action Skill Composition
Ke Rui, Yushen Zuo, Jiawei Wang, Haoran Jia, Jinming Ma, Weitao Zhou, et al.
Long-horizon household tasks require robots to compose many language-conditioned skills, yet the boundary between consecutive skills is rarely explicit. A skill may satisfy its own postcondition while leaving the robot, objects, or camera views in a state from which the next skil…