What Matters, When? Diagnosing and Improving Conditional Visual Grounding in Visuomotor Imitation Policies

arXiv:2609.05376 · cs.RO, cs.AI, cs.CV · Submitted 2026-09-04 · Read on arXiv

cs.RO, cs.AI, cs.CV

Submitted: 2026-09-04

Updated: 2026-09-04

Comments: Accepted as an extended abstract at the DexHAND Workshop, ECCV 2026. Non-archival, non-proceedings. 4 pages, 2 figures, 2 tables

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Grounding — 2× in this paper · explained in 3 episodes
• Visual Grounding — 2× in this paper · explained in 2 episodes
• Action Chunking — 1× in this paper · explained in 1 episode
• Regularization — 1× in this paper · explained in 3 episodes
• Robustness — 1× in this paper · explained in 5 episodes
• Transformer — 1× in this paper · explained in 2 episodes

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