arxivcs.ROcs.CV2026-07-23
Scale Up Strategically: Learning Compositional Generalization via Bias-Aware Evaluation and Data Collection for Robotic Manipulation
Yu Qi, Zhang Ye, Xinyi Xu, Yuxuan Lu, Amitoj Sandhu, Boce Hu, et al.
Compositional generalization is essential for robot to follow diverse instructions. However, pretrained policies are known to take shortcuts, deferring to salient cues rather than grounding language. We introduce a diagnostic framework that localizes this failure to individual \t…