Do VLAs Understand and Adapt to the Objects They Handle, or Simply Replay Learned Behaviors?

Excerpt

arXiv:2610.06078v1 Announce Type: cross Abstract: This paper asks whether VLA generalization is grounded in a global understanding of objects' physical properties that enables policies to adapt their motion to unseen setups, or if policies simply replay the motions they've learnt that happen to succeed in new setups. The former reflects genuine generalization; the latter reflects incidental robustness. We first examine awareness of physical properties in seven VLAs by applying linear probing and