{"id":"https://openalex.org/W7140748122","doi":"https://doi.org/10.48550/arxiv.2603.24584","title":"TAG: Target-Agnostic Guidance for Stable Object-Centric Inference in Vision-Language-Action Models","display_name":"TAG: Target-Agnostic Guidance for Stable Object-Centric Inference in Vision-Language-Action Models","publication_year":2026,"publication_date":"2026-03-25","ids":{"openalex":"https://openalex.org/W7140748122","doi":"https://doi.org/10.48550/arxiv.2603.24584"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.24584","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.24584","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2603.24584","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5130689248","display_name":"Jiaying Zhou","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhou, Jiaying","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130679711","display_name":"Zhihao Zhan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhan, Zhihao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048008225","display_name":"Ruifeng Zhai","orcid":"https://orcid.org/0000-0001-7182-7644"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhai, Ruifeng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130635477","display_name":"Qinhan Lyu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lyu, Qinhan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130666845","display_name":"Hao Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Hao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130644574","display_name":"Keze Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Keze","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130665330","display_name":"Liang Lin","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lin, Liang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5130634520","display_name":"Guangrun Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Guangrun","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.654699981212616,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.654699981212616,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.1776999980211258,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.02879999950528145,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.7322999835014343},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6915000081062317},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.6621999740600586},{"id":"https://openalex.org/keywords/clutter","display_name":"Clutter","score":0.5950000286102295},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4666999876499176},{"id":"https://openalex.org/keywords/residual","display_name":"Residual","score":0.438400000333786},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.43050000071525574},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.32829999923706055}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7397000193595886},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.7322999835014343},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6915000081062317},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.6621999740600586},{"id":"https://openalex.org/C132094186","wikidata":"https://www.wikidata.org/wiki/Q641585","display_name":"Clutter","level":3,"score":0.5950000286102295},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5828999876976013},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4666999876499176},{"id":"https://openalex.org/C155512373","wikidata":"https://www.wikidata.org/wiki/Q287450","display_name":"Residual","level":2,"score":0.438400000333786},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.43050000071525574},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3560999929904938},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.32829999923706055},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.32820001244544983},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.3140000104904175},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.3100000023841858},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.3057999908924103},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.29760000109672546},{"id":"https://openalex.org/C43214815","wikidata":"https://www.wikidata.org/wiki/Q7310987","display_name":"Reliability (semiconductor)","level":3,"score":0.29280000925064087},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.2896000146865845},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.27889999747276306},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.2655999958515167},{"id":"https://openalex.org/C94124525","wikidata":"https://www.wikidata.org/wiki/Q912550","display_name":"Categorization","level":2,"score":0.25049999356269836}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.24584","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.24584","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.24584","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.24584","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"score":0.8121630549430847,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Vision--Language--Action":[0],"(VLA)":[1],"policies":[2,141],"have":[3],"shown":[4],"strong":[5],"progress":[6],"in":[7,21,86,122],"mapping":[8],"language":[9],"instructions":[10],"and":[11,83,102,106,134,145,158,167,170],"visual":[12],"observations":[13],"to":[14],"robotic":[15],"actions,":[16],"yet":[17],"their":[18,108],"reliability":[19],"degrades":[20],"cluttered":[22],"scenes":[23],"with":[24,138,142],"distractors.":[25],"By":[26],"analyzing":[27],"failure":[28],"cases,":[29],"we":[30,69],"find":[31],"that":[32,54,79,115],"many":[33],"errors":[34],"do":[35],"not":[36,128],"arise":[37],"from":[38,42],"infeasible":[39],"motions,":[40],"but":[41],"instance-level":[43],"grounding":[44],"failures:":[45],"the":[46,61,99,117,123,131],"policy":[47,96,132],"often":[48],"produces":[49],"a":[50,74,111],"plausible":[51],"grasp":[52],"trajectory":[53],"lands":[55],"slightly":[56],"off-target":[57],"or":[58],"even":[59],"on":[60,151],"wrong":[62],"object":[63,120],"instance.":[64],"To":[65],"address":[66],"this":[67],"issue,":[68],"propose":[70],"TAG":[71,94,126,150],"(Target-Agnostic":[72],"Guidance),":[73],"simple":[75],"inference-time":[76],"guidance":[77,92],"mechanism":[78],"explicitly":[80],"reduces":[81,168],"distractor-":[82],"appearance-induced":[84],"bias":[85],"VLA":[87,140],"policies.":[88],"Inspired":[89],"by":[90],"classifier-free":[91],"(CFG),":[93],"contrasts":[95],"predictions":[97],"under":[98,165],"original":[100],"observation":[101],"an":[103],"object-erased":[104],"observation,":[105],"uses":[107],"difference":[109],"as":[110],"residual":[112],"steering":[113],"signal":[114],"strengthens":[116],"influence":[118],"of":[119],"evidence":[121],"decision":[124],"process.":[125],"does":[127],"require":[129],"modifying":[130],"architecture":[133],"can":[135],"be":[136],"integrated":[137],"existing":[139],"minimal":[143],"training":[144],"inference":[146],"changes.":[147],"We":[148],"evaluate":[149],"standard":[152],"manipulation":[153],"benchmarks,":[154],"including":[155],"LIBERO,":[156],"LIBERO-Plus,":[157],"VLABench,":[159],"where":[160],"it":[161],"consistently":[162],"improves":[163],"robustness":[164],"clutter":[166],"near-miss":[169],"wrong-object":[171],"executions.":[172]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-03-27T00:00:00"}
