A cross-version swap protocol reveals dominant skills that swing composition success by up to 50 percentage points, and an atomic probe with selective revalidation governs updates at lower cost than always re-testing full compositions.
33 tasks over 3 compositional levels (L0/L1/L2) on ManiSkill2; even pretrained VLMs fail on L1/L2
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Atomic-Probe Governance for Skill Updates in Compositional Robot Policies
A cross-version swap protocol reveals dominant skills that swing composition success by up to 50 percentage points, and an atomic probe with selective revalidation governs updates at lower cost than always re-testing full compositions.