Pretraining Knows What, Simulation Teaches How: Compositional Generalization in a Sim-Trained Robot Agent.

arXiv:2610.35817v2 Announce Type: replace-cross Abstract: A robot policy needs to understand what a task is asking for in a scene, and how to move the robot to accomplish that task. To achieve these two skills, we introduce Zero-real Agent Policy (ZAP), a reci