CompCPZ: Preserving Multi-Modal Intent in Language-Guided Robot Manipulation

arXiv:2608.17717v1 Announce Type: new Abstract: A robot asked to "place the cup near the red plate or the blue plate" may reach the centroid between them and appear geometrically successful, while satisfying neither disjunct of the instruction. This silent semantic failure exposes a structural limitation of language-conditioned robot policies: representations that collapse a disjunctive instruction into a single connected set cannot preserve all feasible modes, and planners that commit to one ac...