CAPABLE: Capability-Aware Policy Adaptation via Behavioral L
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Source roundup from published reports. Claims below are attributed to their publishers, not independently verified. arXiv Robotics — research abstracts: CAPABLE: Capability-Aware Policy Adaptation via Behavioral Latent Encoding. This paper presents CAPABLE, a unified framework for adapting frozen vision-language-action (VLA) policies to physical faults. It integrates self-supervised capability inference with residual reinforcement learning, enab…
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- arXiv Robotics — research abstractsCAPABLE: Capability-Aware Policy Adaptation via Behavioral Latent Encoding
This paper presents CAPABLE, a unified framework for adapting frozen vision-language-action (VLA) policies to physical faults. It integrates self-supervised capability inference with residual reinforcement learning, enabling bounded corrections to VLA actions without fault labels. CAPABLE improves success rates across 28 LIBERO tasks, achieving 59.3% success on actuator-excluded faults, outperforming baselines by 17.4 points.
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