Zheng Lian

AC-VLA: Robust Out-of-Distribution Action Execution via Compositional Learning

Xiaojiang Peng, Kai Peng, Jie Lu, Zheng Lian, Zitong YU, Xiaobo Wang

Vision-Language-Action (VLA) models excel at end-to-end robotic manipulation but struggle with out-of-distribution (OOD) generalization when familiar sub-tasks are recombined in unseen configurations. We identify two mutually reinforcing failure modes: \emph{trajectory overfittin…Read more