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cs.RO2026
What Matters, When? Diagnosing and Improving Conditional Visual Grounding in Visuomotor Imitation Policies
Vivek Chavan, Pengtao Xie, Yahuan Shi +3
Visuomotor imitation policies can achieve high performance under in-distribution visual conditions yet fail when visually similar objects or receptacles are introduced. We study th…
cs.RO2026
Towards Neuro-Symbolic Procedural Reasoning for Long-Horizon Vision-Language-Action Manipulation
Vivek Chavan, Yahuan Shi, Oliver Heimann +2
Vision-language-action (VLA) models can execute short manipulation skills, but remain brittle in long-horizon procedures requiring persistent task state, dependency-aware reasoning…