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cs.RO2026
PerturBot: Breaking Shortcut Priors in Vision-Language-Action Models with Perturbative Training
Mingyu Liu, Chonghao Sima, Tianjian Feng +4
A vision--language--action (VLA) policy can complete complex tasks while ignoring the evidence that should determine its actions. An object held near the wrist camera can displace…
cs.RO2026
CAPE: Contrastive Action-conditioned Parallel Encoding for Embodied Planning
Cong Chen, Haowen Wang, Zhixiang Zhang +2
Embodied agents need to predict the future consequences of candidate actions in order to plan effectively before execution. Existing visual dynamics models learn by reconstructing…