# Same Scene, Different Task: Skill Alignment for Compositional Generalization in VLAs

arXiv: https://arxiv.org/abs/2610.00524 · HTML: https://mlsanity.com/paper/2610.00524/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Placed in Generalist VLA models and benchmarks, one of 13 directions in Vision-language-action models.
- Builds on 36 of its 38 references that are in the map.
- First posted on arXiv 30 Sep 2026.

## Placed in

- Vision-language-action models / [Generalist VLA models and benchmarks](https://mlsanity.com/vla/generalist-vla-models-and-benchmarks/)

## Builds on (most cited first, 30 of 36)

- [LoRA: Low-Rank Adaptation of Large Language Models](https://mlsanity.com/paper/2106.09685/) (2021)
- [Flow Matching for Generative Modeling](https://mlsanity.com/paper/2210.02747/) (2022)
- [RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control](https://mlsanity.com/paper/2307.15818/) (2023)
- [OpenVLA: An Open-Source Vision-Language-Action Model](https://mlsanity.com/paper/2406.09246/) (2024)
- [π0: A Vision-Language-Action Flow Model for General Robot Control](https://mlsanity.com/paper/2410.24164/) (2024)
- [Do As I Can, Not As I Say: Grounding Language in Robotic Affordances](https://mlsanity.com/paper/2204.01691/) (2022)
- [Shortcut Learning in Deep Neural Networks](https://mlsanity.com/paper/2004.07780/) (2020)
- [π0.5: a Vision-Language-Action Model with Open-World Generalization](https://mlsanity.com/paper/2504.16054/) (2025)
- [LIBERO: Benchmarking Knowledge Transfer for Lifelong Robot Learning](https://mlsanity.com/paper/2306.03310/) (2023)
- [GR00T N1: An Open Foundation Model for Generalist Humanoid Robots](https://mlsanity.com/paper/2503.14734/) (2025)
- [Fine-Tuning Vision-Language-Action Models: Optimizing Speed and Success](https://mlsanity.com/paper/2502.19645/) (2025)
- [FAST: Efficient Action Tokenization for Vision-Language-Action Models](https://mlsanity.com/paper/2501.09747/) (2025)
- [Learning the Difference that Makes a Difference with Counterfactually-Augmented Data](https://mlsanity.com/paper/1909.12434/) (2019)
- [Hi Robot: Open-Ended Instruction Following with Hierarchical Vision-Language-Action Models](https://mlsanity.com/paper/2502.19417/) (2025)
- [Learning to Generalize Across Long-Horizon Tasks from Human Demonstrations](https://mlsanity.com/paper/2003.06085/) (2020)
- [CogVLA: Cognition-Aligned Vision-Language-Action Model via Instruction-Driven Routing & Sparsification](https://mlsanity.com/paper/2508.21046/) (2025)
- [Efficient Data Collection for Robotic Manipulation via Compositional Generalization](https://mlsanity.com/paper/2403.05110/) (2024)
- [Shortcut Learning in Generalist Robot Policies: The Role of Dataset Diversity and Fragmentation](https://mlsanity.com/paper/2508.06426/) (2025)
- [Language Prior Is Not the Only Shortcut: A Benchmark for Shortcut Learning in VQA](https://mlsanity.com/paper/2210.04692/) (2022)
- [When Vision Overrides Language: Evaluating and Mitigating Counterfactual Failures in VLAs](https://mlsanity.com/paper/2602.17659/) (2026)
- [CAST: Counterfactual Labels Improve Instruction Following in Vision-Language-Action Models](https://mlsanity.com/paper/2508.13446/) (2025)
- [ReVLA: Reverting Visual Domain Limitation of Robotic Foundation Models](https://mlsanity.com/paper/2409.15250/) (2024)
- [LangForce: Bayesian Decomposition of Vision Language Action Models via Latent Action Queries](https://mlsanity.com/paper/2601.15197/) (2026)
- [Enhancing Generalization in Vision-Language-Action Models by Preserving Pretrained Representations](https://mlsanity.com/paper/2509.11417/) (2025)
- [Robust Finetuning of Vision-Language-Action Robot Policies via Parameter Merging](https://mlsanity.com/paper/2512.08333/) (2025)
- [Seeing to Act, Prompting to Specify: A Bayesian Factorization of Vision Language Action Policy](https://mlsanity.com/paper/2512.11218/) (2025)
- [Does Data Scaling Lead to Visual Compositional Generalization?](https://mlsanity.com/paper/2507.07102/) (2025)
- [Revisiting Compositional Generalization Capability of Large Language Models Considering Instruction Following Ability](https://mlsanity.com/paper/2506.15629/) (2025)
- [VLAs are Confined yet Capable of Generalizing to Novel Instructions](https://mlsanity.com/paper/2505.03500/) (2025)
- [ReSteer: Quantifying and Refining the Steerability of Multitask Robot Policies](https://mlsanity.com/paper/2603.17300/) (2026)

## Abstract (arXiv)

Vision-language-action (VLA) models often struggle to generalize to skill combinations absent from their fine-tuning demonstrations, even when every constituent skill has been demonstrated. We focus on a vision shortcut as one failure mode: during fine-tuning, visual observations can serve as a proxy for the instruction, so a policy may execute a demonstrated combination associated with similar observations rather than the instructed combination. This motivates training with counterfactual pairs formed by holding a demonstration observation fixed while changing the instruction to specify an undemonstrated combination. These pairs, however, lack corresponding demonstrated action targets. Crucially, the currently required skill has already been demonstrated, but actions from those executions cannot serve as direct targets because the same skill can require different actions across observations. We propose CRAFT, which transfers supervision from demonstrated executions of the required skill to counterfactual pairs using skill representations that can be reused across executions of the same skill. Across three VLA models and two simulation benchmarks, CRAFT improves success on undemonstrated combinations while maintaining high success on demonstrated ones; it also improves compositional generalization on a real robot. Project website: https://taegeunyang.github.io/craft/