A counterfactual battery for instruction following in vision-language-action policies: change one word of the instruction, hold the scene, and record which object the arm reaches. Ships the deconfounded demonstration generators and their confounded control.
benchmark lora robot-learning language-grounding robot-manipulation shortcut-learning embodied-ai libero instruction-following vision-language-action counterfactual-evaluation causal-confusion
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Updated
Sep 25, 2026 - Python