Arm-wise Compositional Generalization in Dual-Arm Vision-Language-Action Models

arXiv:2610.06184 · cs.RO · Submitted 2026-10-05 · Read on arXiv

cs.RO

Submitted: 2026-10-05

Updated: 2026-10-05

Code: https://github.com/huggingface/lerobot

Terminology

• Compositional Generalization — 1× in this paper · explained in 4 episodes
• Generalization — 1× in this paper · explained in 13 episodes

Sources

• $\pi_0$: A Vision-Language-Action Flow Model for General Robot Control
• RT-1: Robotics Transformer for Real-World Control at Scale
• RoboTwin 2.0: A Scalable Data Generator and Benchmark with Strong Domain Randomization for Robust Bimanual Robotic Manipulation
• RoboDojo: A Unified Sim-and-Real Benchmark for Comprehensive Evaluation of Generalist Robot Manipulation Policies
• RMBench: Memory-Dependent Robotic Manipulation Benchmark with Insights into Policy Design
• BiGym: A Demo-Driven Mobile Bi-Manual Manipulation Benchmark
• CAST: Counterfactual Labels Improve Instruction Following in Vision-Language-Action Models
• TwinVLA: Data-Efficient Bimanual Manipulation with Twin Single-Arm Vision-Language-Action Models
• $\pi^{*}_{0.6}$: a VLA That Learns From Experience
• $\pi_{0.5}$: a Vision-Language-Action Model with Open-World Generalization
• ${\pi}_{0.7}$: a Steerable Generalist Robotic Foundation Model with Emergent Capabilities
• VIMA: General Robot Manipulation with Multimodal Prompts
• OpenVLA: An Open-Source Vision-Language-Action Model
• RDT2: Exploring the Scaling Limit of UMI Data Towards Zero-Shot Cross-Embodiment Generalization
• ManiSkill: Generalizable Manipulation Skill Benchmark with Large-Scale Demonstrations
• FAST: Efficient Action Tokenization for Vision-Language-Action Models
• Octo: An Open-Source Generalist Robot Policy
• RoboEval: Where Robotic Manipulation Meets Structured and Scalable Evaluation
• DexVLA: Vision-Language Model with Plug-In Diffusion Expert for General Robot Control
• RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation

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• APT: Action Expert Pretraining Improves Instruction Generalization of Vision-Language-Action Policies