What Matters, When? Diagnosing and Improving Conditional Visual Grounding in Visuomotor Imitation Policies
Visuomotor imitation policies can achieve high performance under in-distribution visual conditions yet fail when visually similar objects or receptacles are introduced. We study this behavior as a problem of conditional visual grounding: the visual target required for successful control changes with the manipulation phase and, in more complex tasks, with the observed task state. Using Action…
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