Taming VLAs under Robot Execution Errors: Self-Compensation and Stress Testing

arXiv:2609.37334 · cs.RO · Submitted 2026-09-29 · Read on arXiv

cs.RO

Submitted: 2026-09-29

Updated: 2026-09-29

Terminology

• Adaptation — 28× in this paper · explained in 1 episode
• Robustness — 27× in this paper · explained in 5 episodes
• Adam — 11× in this paper · explained in 2 episodes
• Benchmark — 11× in this paper · explained in 2 episodes
• International Conference on Learning Representations — 5× in this paper
• Fine-Tuning — 4× in this paper · explained in 5 episodes
• Generalization — 4× in this paper · explained in 13 episodes
• Conference on Robot Learning — 3× in this paper
• Reinforcement Learning — 3× in this paper · explained in 4 episodes
• Anchor Loss — 2× in this paper · explained in 1 episode
• Generative AI — 2× in this paper · explained in 2 episodes
• International Conference on Robotics and Automation — 2× in this paper
• LoRA Adapters — 2× in this paper · explained in 3 episodes
• Online Adaptation — 2× in this paper · explained in 3 episodes
• VLA Models — 2× in this paper · explained in 3 episodes
• Ablation — 1× in this paper · explained in 1 episode
• Action Flow — 1× in this paper · explained in 1 episode
• Adversarial Attacks — 1× in this paper · explained in 1 episode
• Alignment — 1× in this paper · explained in 1 episode
• Benchmarking — 1× in this paper · explained in 3 episodes
• Calibration — 1× in this paper · explained in 7 episodes
• Closed-Loop System — 1× in this paper · explained in 4 episodes
• Core — 1× in this paper · explained in 2 episodes
• Dynamic Time Warping (DTW) — 1× in this paper · explained in 2 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• Generative Modeling — 1× in this paper · explained in 3 episodes
• Self-Supervised Learning — 1× in this paper · explained in 8 episodes
• Tokenization — 1× in this paper · explained in 2 episodes
• Transformer — 1× in this paper · explained in 2 episodes
• Vision-Language-Action (VLA) Models — 1× in this paper · explained in 2 episodes

Sources

• EVOLVE-VLA: Test-Time Training from Environment Feedback for Vision-Language-Action Models
• GR00T N1: An Open Foundation Model for Generalist Humanoid Robots
• GR-2: A Generative Video-Language-Action Model with Web-Scale Knowledge for Robot Manipulation
• Eva-VLA: Evaluating Vision-Language-Action Models' Robustness Under Real-World Physical Variations
• RobustVLA: Robustness-Aware Reinforcement Post-Training for Vision-Language-Action Models

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