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

A robot policy needs to understand what a task is asking for in a scene, and how to move the robot to accomplish that task. To achieve these two skills, we introduce 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 h