Task Robustness via Re-Labelling Vision-Action Robot Data

Published June 10, 2026 · Category: Robotics

Overview

arXiv:2606.10918v1 Announce Type: new Abstract: The recent trend in scaling models for robot learning has resulted in impressive policies that can perform various manipulation tasks and generalize to novel scenarios. However, these policies continue to struggle with following instructions, likely due to the limited linguistic and action sequence diversity in existing robotics datasets. This paper introduces Task Robustness via Re-Labelling Vision-Action Robot Data (TREAD), a scalable framework that leverages large Vision-Language Models (VLMs) to augment existing robotics datasets without additional data collection, harnessing the transferable knowledge embedded in these models. Our approach leverages a pretrained VLM through three stages: generating semantic sub-tasks from original instruction labels and initial scenes, segmenting demonstration videos conditioned on these sub-tasks, and producing diverse instructions that incorporate object properties, effectively decomposing longer demonstrations into grounded language-action pairs. We further enhance robustness by augmenting the data with linguistically diverse versions of the text goals. Evaluations on LIBERO demonstrate that policies trained on our augmented datasets exhibit improved performance on novel, unseen tasks and goals. Our results show that TREAD enhances both planning generalization through trajectory decomposition and language-conditioned policy generalization through increased linguistic diversity.

Source

Originally published at arxiv.org.

Related Articles

• AgenticNav: Zero-Shot Vision-and-Language Navigation as a Tool-Calling Harness
• Act on What You See: Unlocking Safe Social Navigation in Vision-Language-Action Models
• Dexterous Point Policy: Learning Point-based Dexterous Hand Policies from Human Demonstrations