{"paper":{"title":"AC-VLA: Robust Out-of-Distribution Action Execution via Compositional Learning","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Jie Lu, Kai Peng, Xiaobo Wang, Xiaojiang Peng, Zheng Lian, Zitong Yu","submitted_at":"2026-07-17T07:51:03Z","abstract_excerpt":"Vision-Language-Action (VLA) models excel at end-to-end robotic manipulation but struggle with out-of-distribution (OOD) generalization when familiar sub-tasks are recombined in unseen configurations. We identify two mutually reinforcing failure modes: \\emph{trajectory overfitting}, where models overfit to holistic trajectory patterns rather than compositional sub-skill semantics; and \\emph{perceptual shortcut}, where action tokens over-rely on wrist-view textures at the expense of global spatial grounding. To address both, we introduce \\textbf{AC-VLA}, a plug-and-play Action Compositional lea"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2607.15714","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2607.15714/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}