Author

D. Saunders

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Preprint Oct 2026

Pretraining Knows What, Simulation Teaches How: Compositional Generalization for Agentic Robotics

Frontier models such as GPT-6 Astra now directly control robots and can generalize better than vision-language-action models (VLAs). We argue that this ability could arise from two distinct, composable skills: semantic reasoning, to understand what a task asks for in a scene, and motion control, to move the robot to do...

Benjamin Pikus, D. Saunders, Mircea Mironenco et al. · 0 citations

#artificial intelligence Preprint Oct 2026

Pretraining Knows What, Simulation Teaches How: Compositional Generalization in a Sim-Trained Robot Agent

Zero-real Agent Policy (ZAP), a recipe that teaches a small off-the-shelf vision-language model to control a robot via a simple tool harness, uses a pretrained 27B parameter model to bootstrap world understanding and reasoning, followed by supervised fine-tuning and GRPO on simple simulated tasks to teach it how to mov...

Benjamin Pikus, D. Saunders, Mircea Mironenco et al. · 0 citations