Assess generalization to remaining transformations, prompts, scenes, and hardware

Assess the Instruction-Conditioned Motion Control pipeline on the remaining defined shape transformations and on held-out prompts, scenes, and physical robot hardware to determine its task and platform generalization.

Background

The experiments cover only a subset of the 132 defined directed transformations and use simulated manipulation with text-only reinforcement-learning inputs. The paper explicitly distinguishes these conditions from perception, calibration, contact, latency, safety, and hardware-transfer requirements.

Testing the unexamined transformations and held-out settings is necessary to determine whether the reported behavior extends beyond the limited simulated benchmark.

References

Evaluation covers a subset of the 132 defined transformations; tests of the remaining tasks and generalization to held-out prompts, scenes and hardware remain future work.

— Instruction-Conditioned Motion Control for Robotic Arms: Language-to-Code Decomposition and Reinforcement Learning  (2610.19617 - Huang et al., 14 Oct 2026) in Section VIII, Discussion, limitations and reproducibility, p. 7