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cs.RO2026
Paraphrase Consensus Is Not Self-Consistency: Instruction Reliance and Robustness in VLA Policies
Hanlong Li, Sihan Tan, Takeshi Ashizawa +2
Vision-language-action (VLA) policies fine-tuned on LIBERO are trained and evaluated on the same ten instruction strings, and rewording the instruction changes base OpenVLA's succe…
cs.RO2026
AMBIT: Anticipatory Multimodal Body Recruitment for Bimanual Tracking on a Humanoid
Hanlong Li, Sihan Tan, Takeshi Ashizawa +2
A humanoid with 5-DoF arms cannot track generic bimanual end-effector trajectories with its arms alone; pelvis and waist motion must be recruited, but which motion, and when, is no…