arxivcs.RO2026-07-31
Diagnosing Compositional Generalization in Sequential Robot Tasks
Yixiao Wang, Cheng-En Wu, Lingfeng Sun, Pengcheng Wang, Xiang Ji, Boyuan Liang, et al.
Sequential robot manipulation requires policies to execute novel combinations of familiar instruction components. However, collecting demonstrations for all possible instruction tuples is combinatorially expensive, while sparsely covered datasets often fail under out-of-distribut…