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arXiv:2610.06184 · 多模态

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

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

类型：arxiv
标识：2610.06184
链接：https://arxiv.org/abs/2610.06184
主分类：multimodal
形态：benchmark
TLDR：Generalization in multi-arm collaboration can be studied as composing familiar atomic skills in new ways across arms. However, existing evaluations offer limited insight into which training and architectural choices support this ability under different coordination requirements. We introduce ACG-Bench, a benchmark for Arm-wise Compositional Generalization that provides a common testbed for studying skill recomposition in dual-arm policies. It contains 23 task--condition pairs across 8 task families, with 6 in-domain conditions and 17 unseen compositions covering reordering, synchronization, th
副分类：evaluation
待LLM分类：否
来源文件：
/inbox/tom/_candidates/2026-10-06-agent-rag-longcontext-candidates.json

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arXiv

2610.06184

TLDR

Generalization in multi-arm collaboration can be studied as composing familiar atomic skills in new ways across arms. However, existing evaluations offer limited insight into which training and architectural choices support this ability under different coordination requirements. We introduce ACG-Bench, a benchmark for Arm-wise Compositional Generalization that provides a common testbed for studying skill recomposition in dual-arm policies. It contains 23 task--condition pairs across 8 task families, with 6 in-domain conditions and 17 unseen compositions covering reordering, synchronization, th

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