SJTU's GSR Method Fixes Robot Failure on Instruction Paraphrasing
jiqizhixin · x · 2026-08-16
Why do robots fail when instructions are rephrased? Researchers from Shanghai Jiao Tong University and Anyverse Dynamics present Grounded Semantic Re-binding (GSR) to solve this.
The issue is architectural: current models fuse visual and text data too early, creating noise. GSR extracts the task's meaning separately and fuses it with visual data only at the end, training a new action decoder from scratch. On the LIBERO-Para benchmark, GSR boosts success rates by up to 44.6%. Lightweight models now rival massive pretrained systems, setting a new PRIDE score record of 70.4. They also launched ParaVLA, a tiny 0.33B model.
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