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| Autores principales: | , , , |
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| Formato: | Preprint |
| Publicado: |
2026
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| Acceso en línea: | https://arxiv.org/abs/2605.20856 |
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| _version_ | 1866910239923634176 |
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| author | Ren, Hanxiang Zhou, Pei Zhou, Xunzhe Yang, Yanchao |
| author_facet | Ren, Hanxiang Zhou, Pei Zhou, Xunzhe Yang, Yanchao |
| contents | Language-conditioned manipulation policies typically process instructions and observations through shared network parameters. This task-state entanglement provides a pathway for observation leakage -- networks learn scene-to-action shortcuts that bypass language grounding entirely. DISC eliminates this failure structurally. Rather than conditioning a universal policy on language, DISC uses a hypernetwork to generate the entire parameter set of a task-specific visuomotor policy from the instruction alone. The generated policy never directly accesses language; therefore, its task-awareness must come from the language. Consequently, observation leakage has no pathway to emerge. On the other hand, generating coherent high-dimensional policy weights is itself a challenging problem. We address it with a two-stage hypernetwork whose refinement stage embeds the structure of gradient-based optimization as a feed-forward inductive bias, producing globally consistent parameters without actual gradient computation. Trained entirely from scratch on standard data budgets, DISC outperforms all entangled baselines on LIBERO-90 and Meta-World, with advantages that widen on complex, long-horizon tasks -- and surpasses the large-scale pretrained $π_0$ despite using no external pretraining data. On a real-world benchmark where all tasks share identical visual context, DISC substantially outperforms entangled alternatives, directly confirming that language-generated policy parameters, not visual shortcuts, drive behavior. The hypernetwork further learns a semantically structured parameter manifold that enables few-shot adaptation from minimal demonstrations and robust generalization across paraphrased instructions. Our code is available at: {https://github.com/ReNginx/DISC}. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2605_20856 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | DISC: Decoupling Instruction from State-Conditioned Control via Policy Generation Ren, Hanxiang Zhou, Pei Zhou, Xunzhe Yang, Yanchao Robotics Artificial Intelligence Machine Learning Language-conditioned manipulation policies typically process instructions and observations through shared network parameters. This task-state entanglement provides a pathway for observation leakage -- networks learn scene-to-action shortcuts that bypass language grounding entirely. DISC eliminates this failure structurally. Rather than conditioning a universal policy on language, DISC uses a hypernetwork to generate the entire parameter set of a task-specific visuomotor policy from the instruction alone. The generated policy never directly accesses language; therefore, its task-awareness must come from the language. Consequently, observation leakage has no pathway to emerge. On the other hand, generating coherent high-dimensional policy weights is itself a challenging problem. We address it with a two-stage hypernetwork whose refinement stage embeds the structure of gradient-based optimization as a feed-forward inductive bias, producing globally consistent parameters without actual gradient computation. Trained entirely from scratch on standard data budgets, DISC outperforms all entangled baselines on LIBERO-90 and Meta-World, with advantages that widen on complex, long-horizon tasks -- and surpasses the large-scale pretrained $π_0$ despite using no external pretraining data. On a real-world benchmark where all tasks share identical visual context, DISC substantially outperforms entangled alternatives, directly confirming that language-generated policy parameters, not visual shortcuts, drive behavior. The hypernetwork further learns a semantically structured parameter manifold that enables few-shot adaptation from minimal demonstrations and robust generalization across paraphrased instructions. Our code is available at: {https://github.com/ReNginx/DISC}. |
| title | DISC: Decoupling Instruction from State-Conditioned Control via Policy Generation |
| topic | Robotics Artificial Intelligence Machine Learning |
| url | https://arxiv.org/abs/2605.20856 |