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Beyond Single-Axis Testing: Paired Evaluation of Compound Robustness in Vision-Language-Action Policies

arXiv · AI, language, vision and robotics · article · Sep 14, 2026 · UTC

Vision-language-action policies are typically evaluated one perturbation at a time, providing a useful diagnosis of their sensitivity to individual distribution shifts. Real-world deployment, however, may involve several shifts simultaneously, and it remains unclear how these individual robustness measurements compose. We ask whether compound robustness can be inferred from single-axis evaluations. We introduce LIBERO-CTRL, a six-axis benchmark that pairs each initial state across single-axis conditions and a matched simultaneous condition. This design reveals two opposing outcome changes that

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