Scale Up Strategically: Learning Compositional Generalization via Bias-Aware Evaluation and Data Collection for Robotic Manipulation
Compositional generalization is essential for robot to follow diverse instructions. However, pretrained policies are known to take shortcuts, deferring to salient cues rather than grounding language. We introduce a diagnostic framework that localizes this failure to individual \textit{instruction factors}, \textit{e.g.,} reusable semantic components such as color, verb, object, size, and spatial attribute. Our framework formalizes instruction factor bias, the tendency of fine-tuned policies to over-rely on dominant factors as shortcuts, and quantifies it through two metrics: Factor Dominance R
Lineage graph
Paper → model → repo connections mined from source citations (Tier-1 exact match).
Why these links exist
Every edge carries a method, confidence, and the source snippet that justified it — so bad links are debuggable.
- FuzzySimilar title/name (fuzzy) · 87%ai-collection/ai-collection →
“Fuzzy title match (0.94): “Scale Up Strategically: Learning Compositional Generalizatio” ≈ “ai-collection/ai-collection””
- FuzzySimilar title/name (fuzzy) · 59%aymericdamien/TopDeepLearning →
“Fuzzy title match (0.73): “Scale Up Strategically: Learning Compositional Generalizatio” ≈ “aymericdamien/TopDeepLearning””
- LinkedLinked via arxiv author · 85%Yu Qiao →
“Scale Up Strategically: Learning Compositional Generalization via Bias-Aware Evaluation and Data Collection for Robotic ”
- LinkedLinked via arxiv author · 85%Zhang Ye →
“Scale Up Strategically: Learning Compositional Generalization via Bias-Aware Evaluation and Data Collection for Robotic ”
- LinkedLinked via arxiv author · 85%Xinyi Xu →
“Scale Up Strategically: Learning Compositional Generalization via Bias-Aware Evaluation and Data Collection for Robotic ”
- LinkedLinked via arxiv author · 85%Yuxuan Luo →
“Scale Up Strategically: Learning Compositional Generalization via Bias-Aware Evaluation and Data Collection for Robotic ”
- LinkedLinked via arxiv author · 85%Amitoj Sandhu →
“Scale Up Strategically: Learning Compositional Generalization via Bias-Aware Evaluation and Data Collection for Robotic ”
- LinkedLinked via arxiv author · 85%Boce Hu →
“Scale Up Strategically: Learning Compositional Generalization via Bias-Aware Evaluation and Data Collection for Robotic ”