ROBOTNESS
ExpertarXiv

Taming VLAs under Robot Execution Errors: Self-Compensation and Stress Testing

Sohyun Lee, Yoonjae Baek, Jaesang Won, Jinnyeong Kim, Kang Hyunwoo, Seung-Hwan Baek, Ivan Laptev, Suha Kwak
Original paper Read the full paper (PDF)
From the abstract

Vision-language-action (VLA) policies often fail when a robot's executed motion deviates from their commanded action. Such execution errors arise from the robot's mechanics and operating conditions, such as wear and payload changes.

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