DISC: Decoupling Instruction from State-Conditioned Control via Policy Generation

arXiv:2605.20856v1 Announce Type: cross Abstract: 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 acce

Source: arXiv cs.LG — read the full report at the original publisher.

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