התאמת מודלי תצלום-שפה-פעולה להפרעות ראייתיות לא ידועות במהלך הביצוע

תקציר מקורי באנגליתarXiv:2610.07946v1 Announce Type: cross Abstract: Visual disruptions can arise while a robot is executing a task, leaving a vision-language-action (VLA) policy to respond without knowing the disruption type or timing. We introduce Self-supervised Adaptation from Leftover Trajectories (SALT), which uses the leftover trajectory, the unexecuted part of the previous action chunk, as self-supervision for test-time adaptation. Because consecutive chunks overlap in time, the leftover provides a temporally aligned target for the current prediction over the same future control interval. At the onset of a visual shift, the leftover can retain a plan formed before the corruption, so updating the policy toward it anchors the adaptation across the shift (Transition Anchoring). SALT keeps the adapted po