Compositional Generalization

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6 papers in the last four weeks, up 100% on the four weeks before. 0.1% of all new papers.

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Latest papers 46

Sep 30, 2026cs.LG

On-the-fly Weight Generation: A Hypernetwork Proof of Concept on ARC-1D

General-purpose models can adapt to many tasks from context, while specialised models can execute individual functions with less capacity. Yet obtaining such specialists requires task-specific training or adaptation. We ask whether they can instead be generated directly from a few demonstrations. Using ARC-1D as a controlled testbed, we show that individual transformations can be represented by tiny specialist models, and that a hypernetwork can generate their parameters from context. The generated parameters form a structured weight space, while the resulting specialists show partial compositional generalisation and generalisation to transformations not seen during training. In both settings, removing explicit task identifiers improves generalisation beyond the training transformations. Together, these results provide a proof of concept that few-shot task context can be compiled on-the-fly into compact executable model parameters, and that the resulting weight space can support reuse and generalisation beyond known functions.

Fabio J. Fehr, Philip Torr

University of Oxford

Hypernetwork Model Weights Few-Shot Learning Generative Architectures Improved Generalization Compositional Generalization+1

Sep 30, 2026cs.RO

Same Scene, Different Task: Skill Alignment for Compositional Generalization in VLAs

Vision-language-action (VLA) models often struggle to generalize to skill combinations absent from their fine-tuning demonstrations, even when every constituent skill has been demonstrated. We focus on a vision shortcut as one failure mode: during fine-tuning, visual observations can serve as a proxy for the instruction, so a policy may execute a demonstrated combination associated with similar observations rather than the instructed combination. This motivates training with counterfactual pairs formed by holding a demonstration observation fixed while changing the instruction to specify an undemonstrated combination. These pairs, however, lack corresponding demonstrated action targets. Crucially, the currently required skill has already been demonstrated, but actions from those executions cannot serve as direct targets because the same skill can require different actions across observations. We propose CRAFT, which transfers supervision from demonstrated executions of the required skill to counterfactual pairs using skill representations that can be reused across executions of the same skill. Across three VLA models and two simulation benchmarks, CRAFT improves success on undemonstrated combinations while maintaining high success on demonstrated ones; it also improves compositional generalization on a real robot. Project website: https://taegeunyang.github.io/craft/

Taegeun Yang, Youngju Na, Yoonki Cho +1

Korea Advanced Institute of Science and Technology (KAIST)

Photometric Supervision Compositional Generalization Skills Scene Understanding Model Fine-Tuning

Sep 29, 2026cs.RO

Correcting WHERE, Preserving HOW: Compositional Generalization for Vision-Language-Action Models via Referential Guidance

While Vision-Language-Action (VLA) models enable flexible action generation, their generalization across diverse environmental elements, including manipulated objects, destinations, and backgrounds, is limited by the lack of diversity in robotic training data. Trained end-to-end on such data, VLAs tend to exploit visual shortcuts, associating actions with task-irrelevant visual features rather than the intended task semantics. These shortcuts block recomposition of elements already seen by the policy, that is, compositional generalization. Existing approaches mitigate such entanglement through task-relevant perception or targeted data diversification, but offer no explicit mechanism for unseen recomposition and require backbone-specific modifications with retraining. We observe that under such recomposition, VLAs often fail at global grounding while retaining local manipulation skills that recover near the correct target in familiar configurations. Therefore, we propose Referential Guidance (ReGuide), a training-free wrapper that, given object poses from a grounding module, combines semantic and geometric rebinding to guide the end-effector into demonstration-supported configurations of the instructed referent, where the frozen policy can resume execution. Experiments in simulation across multiple VLA backbones as well as on a real robot show that ReGuide improves success rates under compositional shifts by up to 56.8 and 75.0 percentage points, respectively, while preserving standard-task performance.

Yanyan Zhang, Disheng Liu, Xinpeng Li +8

Case Western Reserve University Cleveland, OH, USA

Large-Scale Robot Demonstration Datasets Action Generation Compositional Generalization

Sep 27, 2026cs.LG

A Spectral Theory of Compositional Learning

How does compositional reasoning emerge during learning? We address this question by mathematically analyzing the learning dynamics of deep linear networks. We train these networks in structured synthetic environments and derive a theory linking the structure of experience to compositional learning. Our theory predicts when compositional inferences emerge, whether they are identifiable from the available evidence, and how new linking evidence can rapidly unlock previously unavailable inferences. These results provide a qualitative explanation for several phenomena observed in human cognition. They account for why a composition can fail despite knowing its premises, why similar compositions can emerge at different times, and how a single linking fact can suddenly enable many new inferences. Taken together, these findings establish a mathematical link between the statistical structure of experience and the development of compositional reasoning.

Hugo Rydel

University of Manchester

Compositional Generalization Cognitive Science Theory

Sep 16, 2026cs.AI

Compositional Reasoning in Language Models under Reinforcement Learning Post-Training

Compositional reasoning is critical for real-world problem solving: since training data is necessarily limited, models must generalize by composing learned skills in new ways. While post-training methods such as reinforcement learning (RL) have substantially improved the reasoning abilities of language models (LMs), their effects on compositional reasoning remain less well understood. We propose a dependency-graph framework to formalize compositional reasoning, yielding three levels of compositionality with increasing complexity. Empirically, we instantiate this framework with data-structure tasks, which provide deterministic reward computation and clear compositional structure. We find a consistent decomposed-to-composed asymmetry: decomposed-skill training does not reliably transfer to composed tasks, whereas composed-task training transfers more readily back to decomposed tasks. We provide theoretical explanation for this asymmetry, and further evaluate compositional generalization under length extrapolation, structural distribution shift, and transfer to tasks requiring unseen skills. Finally, we present a pilot study on real-world tool-calling benchmarks, showing preliminary evidence that the decomposed-to-composed asymmetry can extend to practical settings.

Yu He, Yingxi Li, Yifei Wang +1

Stanford University · Amazon AGI Labs

Compositional Generalization Reinforcement Learning Post-Training Reasoning Skills Multi--Task Learning

Sep 15, 2026cs.AI

What You Can't See Is Still What You Learn: A Preregistered Sixty-Society Confirmation That Evidence Masking Drives Compositional Generalization

Restricting what a module can read may improve what a system learns to compute. We test this in a preregistered confirmation with sixty four-cell systems sharing a frozen language-model backbone and communicating through learned continuous packets. Five conditions vary evidence masking, ownership markers, and replacement of foreign evidence with neutral filler (task-irrelevant text of the same token length), across six initialization clusters, each with two data orders, on one fresh task world. With markers available in both regimes, masking improved accuracy on held-out two- and three-operation compositions by median paired differences of 0.846 and 0.859; all twelve pairs cleared the required margins, and the full preregistered behavioral criterion passed. The unmarked replication also passed. No marked global-visibility (G+) system passed the marker-following check, so the effect of usable role information remains unresolved. The filler condition yielded seven full generalizers, but its decomposition criteria were inconclusive. Packet interventions in all eighteen audited masked systems followed the predicted intermediate-value changes on eligible cases; these finite, success-conditioned audits do not establish mediation. The results confirm a large advantage of the tested masking regime, while leaving its finer attribution and generality open. Protocols, results, and checkpoints are public.

Narcis Marincat

Independent researcher.

Compositional Generalization Ablation Membership Inference Virtual Cell

Sep 15, 2026cs.AI

Neuro-Symbolic Hierarchical Intention Anticipation in Human Behavior

Assistive autonomous systems must anticipate human goals before an observed behavior is complete. This article formulates anticipation as goal inference from a partially observed multimodal episode together with structured prediction of the remaining behavior, rather than exact motor forecasting. A compact Hierarchical Planning Decoder (HPD) is attached to a frozen neuro-symbolic recognition encoder and predicts, at four ontological levels, the next actions, the remaining activities and low-level intentions, and the episode high-level intention(HLI). The decoder is trained with soft neuro-symbolic regularization combining transition-coherence and hierarchical continuity losses, and is decoded with hard reachability masks that enforce ontological validity at inference. On a compositional four-level benchmark of 15,002 multimodal episodes built over NTU RGB+D 120 features, three headline properties are observed together. The advantage over the strongest sequential baseline grows with the anticipation horizon, from +1.7 points at step 1 to +7.3 points at step 3 (top-5). Under compositional generalization, where one parent association per multi-parent low level intention is held out, this advantage widens to +4.9 points at step 1. At the episode level, 96.8% of anticipated trajectories satisfy the joint logic constraints, above the 88.1% strongest-baseline value and the 73.9% ground-truth floor; soft logic terms alone account for a 59.8 to 71.1% relative reduction of HLI-reachability violations, and the hard masks then eliminate them entirely. Neural generation supplies predictive ranking, symbolic constraints supply onto logical validity, and their combination yields coherent hierarchical anticipation while exposing remaining challenges in compositional goal generalization and unordered set prediction.

Farnaz Soleimani, Abdelghani Chibani, Yacine Amirat +1

LISSI · aLISSI Laboratory, University of Paris-Est Créteil (UPEC), IUT de Créteil-Vitry, France

Neuro-Symbolic Framework Agent Behavior Modeling Compositional Generalization Frozen Encoder

Sep 14, 2026cs.CL

Type Diversity Enables Transformers to Generalise Compositionally

Compositional generalisation has been divided into lexical and structural generalisation. Previous work has found that structural generalisation is harder than lexical for Transformers. We propose that this difference is not inherent to Transformers, but due to the high diversity of lexical types and low diversity of structural types in the specific datasets of these previous works. By type diversity we mean the number of different constructors of that type, instead of, for example, the specific word combinations that might populate the structure. To test this, we vary the amounts of type diversity of lexical and structural types in previously published datasets. We create linguistically diverse variants of the COGS and SLOG datasets using Grammatical Framework. We find that type diversity correlates with compositional generalisation equally in lexical and structural test cases, supporting our hypothesis. We note a contradiction with the proposition in previous work that compound divergence explains the difficulty in compositional generalisation tasks. We further investigate the effects of other dataset properties on compositional generalisation, such as the diversity of types other than the novel test structure, and surface properties of the logical semantics format.

Anssi Moisio, Mathias Creutz, Mikko Kurimo

Aalto University · University of Helsinki

Compositional Generalization Diversity Transformer Architectures Grammaticality Divergence

Sep 9, 2026cs.LG

CoGe-GCD: Reframing Generalized Category Discovery with Compositional Generalization

Generalized Category Discovery (GCD) assigns unlabeled instances, mixed with labeled data, to known or novel categories, requiring human-like compositional reasoning: reusing primitives learned from known classes and deciding when new combinations imply new categories. Existing GCD methods operate on unstructured token features and struggle to extrapolate to novel compositions. We propose CoGe-GCD, which rethinks GCD through compositional generalization with two coupled stages. (i) Compositional Perception structures patch tokens by mapping them to a small vocabulary of primitives and refining token embeddings via competitive token-primitive assignment and information passing, yielding coherent groups for discovery. (ii) Generalizing Induction exploits the induced geometric structure and applies a structure-preserving calibration over spatial relations, maintaining probabilistic semantics while improving extrapolation to unseen primitive combinations. CoGe-GCD is implemented as an inductive-bias module between backbone and projection head, without modifying heads or losses, and can be plugged into diverse GCD frameworks. On standard benchmarks, it consistently improves all-class accuracy, unknown-class number estimation, and geometric quality, with marginal computational overhead. Code is available at https://github.com/lytang63/CoGe-GCD.

Luyao Tang, Jiewei Zheng, Kunze Huang +3

The University of Hong Kong, Hong Kong SAR, China · Xiamen University, Xiamen, China · Shenzhen University, Shenzhen, China.

Generalized Category Discovery Compositional Generalization Discovery Token Embeddings

Aug 27, 2026cs.CL

Compositional Failure in Audio-Visual LLMs: Late-Layer Prior Dominance Under Cross-modal Conflict

We study audio-visual conflict as a compositional generalization test for AV-LLMs: the model must combine synchronized but semantically incompatible audio and video evidence and decide whether the pair matches. On VideoLLaMA 2-7B-AV, three alignment configurations remain nearchance on the scored exact-string Yes/No subset of AVHBench, even though their output priors shift substantially. Similarly, off-the-shelf InternVideo2 experienced a 32.3% accuracy decrease specifically under cross-modal conflict, accompanied by a 17.3% instruction-following failure. We call this failure mode prior dominance: late-layer commitment to an internally preferred answer pattern that is weakly grounded in the conflicting inputs. To explain this behavior, we conduct a mechanistic interpretability analysis and find that commitment remains concentrated at 25.5

\pm

1 layers. We show that stronger temporal alignment changes answer bias, but do not improve compositional conflict resolution. Code and data to reproduce our mechanistic audit and behavioral evaluations are available at https://github.com/AdarshSudheer09/AVHBench-dmai.

Adarsh Sudheer, David Li, Omar Elbanna +3

Independent Researcher.

Cross-Modal Conflicts Large Audio Language Models Compositional Generalization

Aug 23, 2026cs.LG

Learning Generalizable Behaviors for Terminal Agents

Terminal agents are a compelling application of large language models (LLMs), with the potential to integrate deeply into users' daily workflows. Reinforcement learning (RL) is a key technique for improving their capabilities, making scalable training environments a central challenge. Since public real-user interaction data are scarce, synthetic environments provide a practical alternative, but often suffer from domain gaps and limited fidelity, leading to poor generalization. Existing work mainly scales the quantity and diversity of synthetic environments, while reward-signal quality and the mechanisms governing generalization remain under-explored. We study how RL improves terminal agents and propose the Agentic Compositional Generalization hypothesis: rather than teaching new domain-specific skills from scratch, RL primarily shapes high-level decision-making behaviors that compose and route low-level skills acquired during pre-training and supervised fine-tuning (SFT). This account is consistent with our empirical results and suggests that verifier quality, which determines which behaviors are reinforced, is more important than simply increasing environment quantity or diversity. Motivated by this insight, we propose River, a simple training recipe that improves reward quality by filtering low-quality environments and augmenting outcome rewards with process-level behavior regularization. Using this recipe, our RL-trained agent achieves the best performance among evaluated open-source RL-trained 8B models across four terminal-agent benchmarks. River also generalizes across model families, scales, agent harnesses, and RL objectives. Using fewer than 30% of the TMax training environments, River improves RL gains by 106% and 30% on average for models ranging from 2B to 27B on Terminal-Bench-Lite and Terminal-Bench-v2.1, respectively.

Yihang Yao, Bo Pang, Xuan Phi Nguyen +3

Salesforce AI Research · Carnegie Mellon University

Agentic Reinforcement Learning Agentic Benchmarks Compositional Generalization Agent Behavior Modeling

Aug 5, 2026cs.RO

Explicit Language Memory for Long-Horizon Planning in Vision-Language-Action Models

Vision-language-action (VLA) models provide a unified paradigm for connecting visual perception, language understanding, and robotic control. However, existing VLA models still face major challenges in long-horizon tasks: sparse expert demonstrations constrain cross-task compositional generalization; the non-Markovian nature of long-horizon tasks makes it difficult for policies conditioned only on current observations to maintain temporal consistency; limited closed-loop error correction allows execution errors to accumulate; and end-to-end action fine-tuning may weaken the high-level semantic representations of vision-language model (VLM) backbones. To address these issues, we propose a hierarchical long-horizon VLA architecture with an explicit language-memory module. The central idea is to convert discrete temporal observations into a coherent textual memory sequence with temporal logic. The system is decoupled into a high-level VLM and a low-level VLA: the high-level VLM performs semantic reasoning through a visual question answering training paradigm, while the low-level VLA executes precise continuous control conditioned on subtask instructions and visual observations. The high-level VLM recursively updates both language memory and subtask instructions using the previous memory as a contextual anchor, enabling persistent temporal tracking and dynamic correction during long-horizon execution. We evaluate the proposed method in multiple simulation environments and conduct sim-to-real experiments on a real robotic platform. The results demonstrate that explicit language memory improves the success rate and robustness of VLA models on complex long-horizon tasks while providing an interpretable semantic account of the decision process.

Houze Xu, Jizhong Li, Ziyi Ye

Fudan University

Diffusion-Based Vision-Language-Actions Long-Horizon Planning Compositional Generalization

Jul 31, 2026cs.RO

Diagnosing Compositional Generalization in Sequential Robot Tasks

Sequential robot manipulation requires policies to execute novel combinations of familiar instruction components. However, collecting demonstrations for all possible instruction tuples is combinatorially expensive, while sparsely covered datasets often fail under out-of-distribution recombination. This paper studies compositional generalization through the lens of instruction-space coverage. We decompose the generalization gap into three sources: \textit{marginal instruction shift}, \textit{instruction-compositional shift}, and \textit{context--action shift}. This decomposition allows us to diagnose when sparse training coverage is sufficient, and what structure the training set must preserve for reliable action prediction. Our results show that exhaustive tuple enumeration is unnecessary: a structured subset, as small as one quarter of the full task space, can recover strong out-of-distribution performance when it covers action-relevant dependencies. We further find that sparse training often fails due to instruction steering rather than missing low-level skills; finetuning only one demonstration per task improves OOD success from

0.4\%

to

54.7\%

. For semantically dependent tasks, effective coverage must capture relational structure rather than only factor diversity. These findings suggest that efficient robot data collection should prioritize dependency coverage in instruction space over exhaustive task expansion. More results are available in the supplementary material. Project website: https://yixiaowang7.github.io/Diagnosing_Compositional_Generalization_Robot_Page/.

Yixiao Wang, Cheng-En Wu, Lingfeng Sun +5

University of California, Berkeley · Tsinghua University

Compositional Generalization Robotic Manipulation Robot Systems

Jul 27, 2026cs.CL

Kimi K3: Open Frontier Intelligence

We introduce Kimi K3, a 2.8T parameter Mixture-of-Experts model with 104 billion activated parameters, native vision capabilities, and a 1-million-token context window. Kimi K3 is built on Kimi Delta Attention and Attention Residuals, which improve information flow across sequence length and model depth. Together with Stable LatentMoE, which effectively activates 16 of 896 routed experts per token, and refined training and data recipes, these advances yield an approximately 2.5x improvement in overall scaling efficiency over Kimi K2. Post-training highlights reinforcement learning across general, agentic, and coding domains and multiple reasoning-effort levels, enabling compositional generalization and robust long-horizon execution. At 2.8T scale, Kimi K3 is supported by infrastructure advances in multiple areas: algorithm-system co-design for KDA, perfectly balanced expert-parallel training with efficient memory management, million-token agentic RL with persistent rollout and sandbox states, and deployment innovations. Extensive evaluations show that Kimi K3 achieves frontier-level performance across long-horizon coding, agentic, knowledge, reasoning, and vision tasks. While its overall performance still trails the most powerful proprietary models, namely Claude Fable 5 and GPT-5.6 Sol, Kimi K3 consistently outperforms other open and proprietary models evaluated in our suite. We release the full Kimi K3 model weights to facilitate future research and accelerate the broader deployment and adoption of frontier intelligence.

Kimi Team, Tongtong Bai, Yifan Bai +399

Qwen3 Intelligence Model Weights Compositional Generalization Agentic Reinforcement Learning

Jul 23, 2026cs.RO

Scale Up Strategically: Learning Compositional Generalization via Bias-Aware Evaluation and Data Collection for Robotic Manipulation

Compositional generalization is essential for robot to follow diverse instructions. However, pretrained policies are known to take shortcuts, deferring to salient cues rather than grounding language. We introduce a diagnostic framework that localizes this failure to individual \textit{instruction factors}, \textit{e.g.,} reusable semantic components such as color, verb, object, size, and spatial attribute. Our framework formalizes instruction factor bias, the tendency of fine-tuned policies to over-rely on dominant factors as shortcuts, and quantifies it through two metrics: Factor Dominance Rate (FDR), capturing pairwise bias between factors, and Factor Dominance Hierarchy (FDH), aggregating these into a global ranking. Evaluation on six foundation policies reveals broadly consistent ordering, \textit{i.e.}, color

\geq

object

\geq

spatial

\geq

verb

\geq

size, with color dominant, and verb and size most under-grounded. We further show the diagnosis is actionable: a bias-aware data collection strategy that reallocates a fixed budget toward under-grounded factors outperforms baselines in simulation and on a real robot using half the demonstrations, thereby enabling more sample-efficient and generalizable policy learning.

Yu Qi, Zhang Ye, Xinyi Xu +6

Northeastern University · NVIDIA

Learning Policy Robotic Manipulation Compositional Generalization Robot Systems

Jul 21, 2026cs.CL

On the Computational Complexity of Structural Generalization

Structural generalization has been measured repeatedly by several benchmarks, yet it has never been formally defined. We give a definition that translates the two premises (compositional structure and unbounded generalization) into mathematical language. The definition itself is neutral: a compiler that hard-codes the rules satisfies it just as well. But structural generalization becomes a scientific question only insofar as the capacity can autonomously emerge from finite data. This question pits the computational lower bound

\mathrm{NC}^1

against the learnable ceiling

\mathrm{TC}^0

of pure Transformers. Under a Montagovian instantiation, each compositional rule splits into two projections: a syntactic face (

F_γ

) and a semantic face (

G_γ

). Tree evaluation on the

G_γ

side is an instantiation of BFVP, which is

\mathrm{NC}^1

-complete (Buss, 1987). A pure Transformer must learn both faces at once, but Kraus et al. (2026) prove that its learnable class

\subseteq \mathrm{TC}^0

. Under the standard assumption

\mathrm{TC}^0 \neq \mathrm{NC}^1

, a pure Transformer cannot learn structural generalization. Neuro-symbolic systems achieve the best benchmark scores precisely because they inject

G_γ

, sidestepping the genuinely hard half. Benchmark scores cannot distinguish "learned" from "given." This is what this paper sets out to make clear.

Zichao Wei

Department of Language Science and Technology Saarland University Saarbrücken, Germany

Compositional Generalization Learnability Energy-Based Transformer

Jul 7, 2026cs.CV

Progressive Reasoning with Primitive Correction for Compositional Zero-Shot Learning

Compositional Zero-Shot Learning (CZSL) aims to combine known attributes and objects as primitives for recognizing previously unseen attribute-object pairs. Prior works either predict attributes and objects independently, missing their strong contextual dependency, or use unidirectional conditional modeling (e.g., object-guided attribute prediction), which is prone to error propagation. We propose PRPC, a Progressive Reasoning framework with Primitive Correction, which explicitly models the bidirectional dependency between attributes and objects via step-wise inference. PRPC performs mutual correction of primitives to suppress prediction errors in earlier steps. Specifically, we formulate CZSL as structured, Q&A-style Chain-of-Thought reasoning process and constrain the MLLM to follow predefined semantic steps to generate intermediate decisions. To further enhance the reliability and logical consistency of intermediate reasoning, we introduce reinforcement learning post-training with a GRPO-based objective, providing step-level rewards aligned with the progressive inference procedure. Extensive experiments on three CZSL benchmarks demonstrate that PRPC achieves state-of-the-art performance, validating the effectiveness of progressive reasoning and bidirectional correction for robust compositional generalization.

Ziyi Chen, Haoyan Shi, Sunhan Xu +1

School of Computer Science and Technology, Beijing Jiaotong University · Key Laboratory of Big Data & Artificial Intelligence in Transportation (Ministry of Education)

Compositional Generalization Progressive Reasoning Pretraining

Jul 6, 2026cs.AI

ClassicLogic: A Knowledge-Driven Benchmark of Classic Puzzle Games for Evaluating Compositional Generalization

Compositional generalization, the ability to understand and produce novel combinations of known components, remains a fundamental challenge for modern artificial intelligence. While few benchmarks exist, many focus on linguistic tasks and lack complex, explicit compositional structures. We introduce ClassicLogic, a new benchmark suite designed to evaluate an agent's ability to learn and compose problem-solving strategies. The benchmark consists of four classic logic puzzles: Sudoku, KenKen, Kakuro, and Futoshiki. Its core innovation is a hierarchical, explicit knowledge base for each game, where complex solving strategies are formally defined as compositions of simpler, foundational strategies. This structure allows for fine-grained evaluation of an agent's reasoning capabilities, from learning basic rules to applying multi-step compositional strategies to solve puzzles of increasing, mathematically validated difficulty. The open-source benchmark provides a challenging new testbed for advancing neuro-symbolic and other advanced AI reasoning systems.

Mahnoor Shahid, Hannes Rothe

Universität Duisburg-Essen Germany

Puzzle Reasoning Benchmark Compositional Generalization Artificial Intelligence Systems

Jul 6, 2026cs.RO

InternVLA-A1.5: Unifying Understanding, Latent Foresight, and Action for Compositional Generalization

Unified models for robot manipulation aim to equip one policy with both the semantic priors of pretrained VLMs and the physical dynamics learned through future prediction. In practice, existing designs tend to erode the semantics of the pretrained backbone, suffer interference among heterogeneous objectives, and learn future prediction from scratch in pixel space, leaving the dynamics priors of pretrained video generators unexploited. We present InternVLA-A1.5, which builds the policy on a native VLM backbone that keeps training on VQA and subtask prediction, and attaches a lightweight unified expert for continuous action generation. Future prediction is recast as a latent-querying problem, where a small set of learnable foresight tokens condenses the task-relevant future into a compact latent code under the supervision of a frozen pretrained video generation model, so the policy inherits world-model dynamics priors without ever learning pixel-level generation. The video branch is discarded at inference, keeping real-time control. Pretrained on 1.2M robot episodes and 3M multimodal samples, InternVLA-A1.5 achieves the best overall results on all six simulation benchmarks. In the real world, the preserved semantics deliver the strongest compositional generalization on held-out instruction bindings, and the two designs together sustain long-horizon execution.

Haoxiang Ma, Junhao Cai, Xiaoxu Xu +26

Physical Intelligence Team, Shanghai AI Laboratory

Action Generation Foresight Recent Vision-Language Models Compositional Generalization Task-Relevant Information

Jul 3, 2026eess.AS

Open-Set Source Tracing as Compositional Factors via Structured Prototypes

Recent research expands beyond binary anti-spoofing with the emergence of Source Tracing, the task of identifying the specific generative origins of synthetic speech. However, current research often equates a "source" with its generative architecture. We propose redefining a source as a compositional tuple of Architecture, Training Data, and other training factors affecting the generated speech. We propose a framework using Structured Orthonormal Prototypes to minimize class overlap and intra-class variance. Our Subspace Partitioning strategy splits the embedding into architecture and data subspaces, while a residual subspace captures stochastic variability, enabling "compositional generalization" for novel factor combinations. This approach improves performance for partially seen sources and maintains robustness in fully open-set scenarios. MLAAD evaluations for Few-Shot open-set Identification show our approach significantly outperforms angular-margin baselines.

Santiago Rubio, Antonio Almudévar, Antonio Miguel +2

ViVoLab, I3A University of Zaragoza Zaragoza, Spain

Speech Separation Open-Set Recognition Subspace Compositional Generalization Structured Context Traces

Jun 26, 2026cs.LG

Learning to Reason with Curriculum II: Compositional Generalization

Compositional generalization, the ability to solve complex problems by combining solutions to simpler sub-problems, is a fundamental capability of both natural and artificial intelligence, and a key mechanism underlying chain-of-thought reasoning. However, the theoretical underpinnings of compositional generalization remain poorly understood: when and why does decomposing a problem into parts yield more efficient learning than solving it directly? We study this question through the canonical problem of learning to simulate semiautomata (predicting the outcome of

T

steps of sequential computation), a model that captures state tracking, regular language recognition, and modular arithmetic. We show that an autocurriculum-based approach building on Part I of this series, recursively decomposing longer sequences into shorter sub-problems, learning to solve them, and composing the solutions, achieves dramatically better statistical complexity than direct methods. (i) For a setting inspired by supervised fine-tuning (SFT) where the learner receives interactive feedback on intermediate states of the computation, curriculum facilitates learning from only

2^{\mathcal{O}(\sqrt{\log T})}

tokens of supervision; i.e., subpolynomial in the sequence length

T

, overcoming the

Ω(T)

token barrier required by direct simulation. (ii) For a setting inspired by reinforcement learning with verifiable rewards (RLVR), where the learner improves a pre-trained reference model using an outcome verifier, we show that curriculum reduces the requirement on the reference model from coverage at the full sequence length

T

to coverage at a shorter block length

B \ll T

, an exponentially weaker condition.

Nived Rajaraman, Audrey Huang, Miroslav Dudik +3

Microsoft Research. · University of Illinois Urbana-Champaign. · Microsoft Research, New York, NY.

Adaptive Curriculum Compositional Generalization Curriculum Reasoning Skills

Jun 16, 2026cs.LG

From Reasoning Traces to Reusable Modules: Understanding Compositional Generalization in Language Model Reasoning

Post-training pipelines that combine supervised fine-tuning (SFT) with reinforcement learning (RL) have emerged as the key recipe for transforming large language models (LLMs) into robust reasoners. We argue that this combined success is driven by compositional generalization, which we formalize through a hierarchical latent selection model. In this framework, reasoning traces are generated by a cascade of discrete latent selection variables corresponding to reusable atomic modules, including both skills (local operations) and routing mechanisms (how intermediate information is selected, reused, and composed). Within this model, we theoretically show that SFT and RL play asymmetric, complementary roles: SFT supplies the raw module materials in compositional traces, and RL decomposes those traces to identify the latent atomic modules and enable compositional generalization. We design controlled experiments to validate this theory. Our results demonstrate that RL can extract atomic modules from compound traces supplied by SFT and recombine them to solve new configurations. Moreover, we find that training on compound traces yields stronger generalization than training on isolated atomic modules. Finally, we investigate the relationship between SFT and RL data and identify an effective protocol in which SFT ensures coverage of all atomic modules through compositional traces, while RL focuses on novel compositions outside the SFT support to drive exploration.

Lingjing Kong, Xin Liu, Guangyi Chen +9

Carnegie Mellon University · Mohamed bin Zayed University of Artificial Intelligence · Institute of Foundation Models +1

LLM Reasoning Strategies Compositional Generalization Large Language Model Reinforcement Learning Reasoning Traces Recursive Reasoner Reuse

Jun 15, 2026cs.RO

ATOM-Bench: A Real-World Benchmark for Atomic Skills and Compositional Generalization in Manipulation Policies

Generalist manipulation policies are increasingly presented as foundation models for robotic control, but their real-world generalization remains difficult to diagnose. A policy may succeed on demonstrated tasks while still failing to execute fine-grained atomic skills or recombine learned skills in new task structures. We introduce \textbf{ATOM-Bench}, a real-world benchmark for evaluating both atomic skills and compositional generalization in manipulation policies. ATOM-Bench factorizes tabletop manipulation into motor atoms and instruction atoms, and contains 30 atomic tasks and 24 held-out compositional tasks across paired single-arm and dual-arm robot tracks. We collect 3,000 human demonstrations for atomic fine-tuning and release both the demonstration data and evaluation rollout data to support reproducible real-world evaluation. Policies are fine-tuned on atomic tasks and evaluated on both atomic skill acquisition and held-out compositional tasks. We further introduce Atomic Score (AS) and Compositional Failure Share (CFS) to distinguish failures caused by weak atomic skills from failures caused by limited compositional reuse. Through 2,700 physical rollouts on five representative manipulation policies, we find that current policies can acquire simple instruction-grounding skills, but still struggle with fine-grained motor atoms, counting, and logical filtering. More importantly, strong atomic performance does not reliably transfer to held-out compositional tasks. ATOM-Bench provides a diagnostic testbed for studying whether failures arise from weak motor execution, poor instruction grounding, or limited compositional reuse.

Zenan Wu, Bingqing Wei, Lu Liu +8

1Beijing Academy of Artificial Intelligence · 2Peking University

Robotic Manipulation Policies Compositional Generalization Skills

Jun 13, 2026cs.LG

A Compositional Framework for Open-ended Intelligence

Open-ended intelligence is the capacity to adapt to novel problems and environments that are substantially different from those in training. A mathematics of open-ended intelligence requires two pillars: first, a minimal set of representational primitives (e.g., states, actions) and algorithmic primitives (e.g., nearest neighbor); and second, an acquired compositional grammar for selection, recursion, and branching that produces sequences of operations and recurring motifs. We formalize open-ended intelligence in terms of the compositional closure induced by a finite primitive set

P

and a set of composition operators

C

. We characterize properties of the induced closure

\mathcal{L}(P,C)

that support unbounded compositional generation across families of tasks and worlds. The closure of the two pillars yields infinite adaptive responses across a wide range of settings. The mathematics supports complementary research agendas, including evaluation metrics for explanation and interpretability, and novel architectures where compositional generalization is native. We propose next primitive prediction (NPP) as a novel architectural objective, where training encourages the acquisition of reusable algorithmic primitives and their compositional grammar, such that new solutions are generated through recombination. Given such an objective, curriculum learning and self-play can enable lifelong learning, expanding the closure by discovering reusable primitives and transition motifs across settings. We ground the framework through case studies in physics, evolution, and neuroscience.

Ida Momennejad, Roberta Raileanu

Microsoft Research NYC, New York, USA · Google DeepMind, London, UK.

Compositional Generalization General Intelligence Intelligence Closure

May 29, 2026cs.LG

Assign and Add: A Mechanistic Study of Compositional Arithmetic

Large language models are able to compose skills in order to perform complex tasks, many of which might not have been seen during training. The details of how exactly this composition occurs remain elusive. In this paper, we study a mechanism for compositional generalization in transformers by considering a simple controlled setting involving variable assignment and modular addition. By partitioning our training data into disjoint sets, we observe that small transformers are able to generalize to previously unseen combinations of variables and numbers. Our mechanistic analysis shows that the same ``modular addition'' MLP module is used whether the inputs are given directly or indirectly through a separate variable assignment mechanism. We also analyze the training dynamics from an empirical lens, which reveals three phases of learning: first, modular addition is learned, then the structure required for variable assignment, and finally a refinement phase where the model generalizes to some hard sequences not seen in training. Finally, we provide a theoretical framework to explain how compositionality emerges from training dynamics. These results suggest that compositional generalization can be a natural consequence of the compositionality of internal mechanisms in~transformers.

Brady Exoo, Alberto Bietti, John Sous

Yale University · Flatiron Institute

Compositional Generalization Transformer Architectures Multilayer Perceptrons Task Arithmetic

May 27, 2026cs.LG

Compositional Generalization in Autoregressive Models via Logit Composition

Composing autoregressive models remains a core challenge in understanding how large language models can combine behaviors or skills learned across tasks. We introduce a new and principled composition strategy for autoregressive systems, inspired by composition methods developed for diffusion models. Under a factorized-conditionals assumption, we show that the resulting composition is projective: each component model preserves control over its own designated subspace of the output distribution avoiding interference between models. This property is further preserved under smooth reparameterizations of the output space, yielding a feature-space theorem. Finally, we show that composition preserves length-generalizing behavior when the factorization assumptions and component guarantees hold uniformly at the target length. These results provide a principled understanding of when model composition and merging succeed in autoregressive systems and identify conditions under which their interactions remain stable.

Aakash Kumar, Maria Sofia Bucarelli, Emanuele Natale

COATI, CNRS, Inria, I3S, Université Coté d’Azur, France

Compositional Generalization Autoregressive Model Logit Lens Exploratory Factor Analysis

May 20, 2026cs.LG

Compositional Transduction with Latent Analogies for Offline Goal-Conditioned Reinforcement Learning

Compositional generalization is essential for reaching unseen goals under novel contextual variations in offline goal-conditioned reinforcement learning (GCRL), where a generalist goal-reaching agent must be learned from limited data. Most prior approaches pursue this via trajectory stitching over temporally contiguous segments, which limits composing behaviors across varying contexts. To overcome this limitation, we formalize analogy transduction as synthesizing new plans by composing task-endogenous analogies with given contexts and propose a novel analogy representation tailored for it. Grounded in our theory, this analogy representation captures what changes under optimal task execution, remains invariant to contextual variations, and is sufficient for optimal goal reaching. We further contend that generalization to unseen analogy-context pairs is a practical obstacle in analogy transduction, and introduce a new approach for offline GCRL that enables analogy transduction beyond seen pairs to unseen combinations. We empirically demonstrate the effectiveness of our approach on OGBench manipulation environments, substantially outperforming prior methods that do not perform analogy transduction. Project page: https://rllab-snu.github.io/projects/CTA/

Junseok Kim, Dohyeong Kim, Mineui Hong +1

Department of Electrical and Computer Engineering and ASRI, Seoul National University · Independent researcher · Robotics Institute, Carnegie Mellon University

Goal-Conditioned Reinforcement Learning Compositional Generalization Analogy

May 14, 2026cs.LG

Matrix-Space Reinforcement Learning for Reusing Local Transition Geometry

Compositional generalization in sequential decision-making requires identifying which parts of prior rollouts remain useful for new tasks. Existing methods reuse skills or predictive models, but often overlook rich local transition geometry and dynamics. We propose Matrix-Space Reinforcement Learning (MSRL), a geometric abstraction that represents trajectory segments through positive semidefinite matrix descriptors aggregating first- and second-order statistics of lifted one-step transitions. These descriptors expose shared hidden structure, support algebraic composition in an abstract matrix space, and reveal opportunities for transfer. We prove that the descriptor is well defined up to coordinate gauge, complete for the induced low-order additive signal class, additive under valid segment composition, and minimally sufficient among admissible additive descriptors. We further show that conditioning value functions on the trajectory-segment matrix yields a first-order smooth approximation of action values, enabling source-learned matrix-to-value mappings to bootstrap learning in new tasks. MSRL is plug-in compatible with standard model-free and model-based methods, while obstruction filtering rejects implausible compositions. Empirically, MSRL achieves the best average finite-budget target AUC of 0.73, outperforming MSRL from scratch (0.65), TD-MPC-PT+FT (0.63), and TD-MPC (0.57).

Zuyuan Zhang, Carlee Joe-Wong, Tian Lan

The George Washington University · Carnegie Mellon University

Offline Reinforcement Learning Transitions Trajectory Generation Compositional Generalization

May 12, 2026cs.LG

Unlocking Compositional Generalization in Continual Few-Shot Learning

Object-centric representations promise a key property for few-shot learning: Rather than treating a scene as a single unit, a model can decompose it into individual object-level parts that can be matched and compared across different concepts. In practice, this potential is rarely realized. Continual learners either collapse scenes into global embeddings, or train with part-level matching objectives that tie representations too closely to seen patterns, leaving them unable to generalize to truly novel concepts. In this paper, we identify this fundamental structural conflict and pioneer a new paradigm that strictly decouples representation learning from compositional inference. Leveraging the inherent patch-level semantic geometry of self-supervised Vision Transformers (ViTs), our framework employs a dual-phase strategy. During training, slot representations are optimized entirely toward holistic class identity, preserving highly generalizable, object-level geometries. At inference, preserved slots are dynamically composed to match novel scenes. We demonstrate that this paradigm offers dual structural benefits: The frozen backbone naturally prevents representation drift, while our lightweight, holistic optimization preserves the features' capacity for novel-concept transfer. Extensive experiments validate this approach, achieving state-of-the-art unseen-concept generalization and minimal forgetting across standard continual learning benchmarks.

Phu-Quy Nguyen-Lam, Phu-Hoa Pham, Dao Sy Duy Minh +3

Faculty of Information Technology, University of Science, Vietnam National University, Ho Chi Minh City, Vietnam. · Department of Computer Science, University of Warwick, Coventry, United Kingdom.

Few-Shot Learning Self-Supervised Vision Transformers Replay-Based Continual Learning Object-Centric Representations Compositional Generalization Continual Learning

May 9, 2026cs.LG

Benchmarking Compositional Generalisation for Machine Learning Interatomic Potentials

Machine Learning Interatomic Potentials play a fundamental role in computational chemistry and materials science, enabling applications from molecular dynamics simulations to drug design and materials discovery. While recent approaches can estimate inter-atomic forces with high precision, it remains unclear to what extent they can generalise to previously unseen molecules. Do they learn the compositional structure of chemistry, capturing how molecular fragments and their combinations determine properties, or do they primarily learn to interpolate patterns that are specific to the training examples? To address this question, we propose a benchmark consisting of four tasks that require some form of compositional generalisation. In each task, models are tested on molecules that were unseen during training, but the training data is chosen such that generalisation to the test examples should be feasible for models that learn the underlying physical principles. Our empirical analysis shows that the considered tasks are highly challenging for state-of-the-art models, with errors on out-of-distribution examples often an order of magnitude higher than on in-distribution examples, even when using foundation models that have been pre-trained on millions of molecules.

Amir Masoud Nourollah, Irtaza Khalid, Stefano Leoni +1

Cardiff University Cardiff, CF10 3AT, UK

Interatomic Potentials Molecular Property Prediction Compositional Generalization Generalisation

May 8, 2026cs.LG

Test-Time Compositional Generalization in Diffusion Models via Concept Discovery

Compositional generalization requires models to produce novel configurations from familiar parts. In diffusion models, prior compositional generation methods typically assume that the relevant concepts or conditioning signals are already available. We instead ask whether a pretrained diffusion model can discover query-specific concepts from the time-indexed scores it learns for the noisy marginals

p_t(x_t)

and compose them at test time. Given a single out-of-distribution query, our method performs gradient ascent on

s_θ(x_t,t) \approx \nabla_{x_t}\log p_t(x_t)

at multiple noising timesteps to recover local density modes, maps these modes into clean-space Gaussians, greedily selects relevant prototypes with a submodular likelihood objective, and combines them into a product-of-experts (PoE) teacher model with an analytic score. This teacher model can be sampled directly through classifier-free guidance or used to generate a sample pool for training a new class embedding and low-rank adapter. On held-out composition benchmarks built from ColorMNIST and CelebA, both the analytic PoE sampler and the low-rank adapted model outperform query-only and nearest trained-class baselines. These results suggest that the time-indexed score geometry of the diffusion model contains reusable density-mode concepts that support test-time compositional generation without a predefined concept library.

Zekun Wang, Anant Gupta, Tianyi Zhu +1

Georgia Institute of Technology · University of Virginia

Diffusion Models Compositional Generalization Out-Of-Distribution Geometry-Aware

May 6, 2026cs.LG

Reinforcement Learning for Compositional Generalization with Outcome-Level Optimization

Compositional generalization refers to correctly interpret novel combinations of known primitives, which remains a major challenge. Existing approaches often rely on supervised fine-tuning, which encourages models to imitate target outputs. This token-level training paradigm fails to capture the global compositional structure required for generalizing to unseen combinations. In this work, we investigate whether compositional generalization can instead be improved through outcome-level reinforcement learning. We adopt Group Relative Policy Optimization to optimize models based on feedback on their final outputs. Within this framework, we explore both a simple binary outcome reward and a composite reward that provides additional composition feedback. Experiments on multiple compositional benchmarks show that reinforcement learning improves compositional generalization compared to supervised fine-tuning. Further analysis reveals that supervised models tend to overfit frequent training compositions, whereas reinforcement learning improves compositional generalization by reshaping the output distribution, particularly for more complex composition types.

Xiyan Fu, Wei Liu

Nanyang Technological University · Independent Researcher

Compositional Generalization Feedback

May 6, 2026cs.LG

Critical Windows of Complexity Control: When Transformers Decide to Reason or Memorize

Recent work has shown that Transformers' compositional generalization is governed by \emph{complexity control}, initialization scale and weight decay, which steers training toward low-complexity reasoning solutions rather than high-complexity memorization. Existing analyses, however, treat complexity control as a single static hyperparameter choice, leaving open \emph{when} during training this control is actually decisive. We show that the memorization-versus-reasoning fate of a Transformer is determined within a sharp, identifiable window of training. On a controlled compositional task we find that (i)~weight decay applied for a single 25%-of-training window matches full-training weight decay in out-of-distribution (OOD) accuracy (

0.93

vs

0.91

); (ii)~holding total regularization budget constant, placing it in the middle of training yields

5{-}9\times

higher OOD accuracy than placing it early; (iii)~the boundary of the critical window is remarkably sharp, window onset shifted by as little as

100

optimization steps causes mean OOD to jump from chance (

0.15

) to reasoning-regime (

0.61

); (iv)~the window's position depends systematically on initialization scale, but the basin of attraction for reasoning solutions \emph{shrinks} at small initialization, contradicting the prevailing recommendation that smaller initialization is uniformly better. We further show that the critical-window phenomenon is task-specific: it does not appear on grokking with modular arithmetic, where properly tuned constant weight decay matches scheduled weight decay.

Sarwan Ali

Columbia University, Irving Medical Center, NY, USA

Transformer Architectures Weight Decay Compositional Generalization Regularization Memorization Reasoning Skills

Apr 30, 2026cs.AI

Investigating More Explainable and Partition-Free Compositionality Estimation for LLMs: A Rule-Generation Perspective

Compositional generalization tests are often used to estimate the compositionality of LLMs. However, such tests have the following limitations: (1) they only focus on the output results without considering LLMs' understanding of sample compositionality, resulting in explainability defects; (2) they rely on dataset partition to form the test set with combinations unseen in the training set, suffering from combination leakage issues. In this work, we propose a novel rule-generation perspective for compositionality estimation for LLMs. It requires LLMs to generate a program as rules for dataset mapping and provides estimates of the compositionality of LLMs using complexity-based theory. The perspective addresses the limitations of compositional generalization tests and provides a new way to analyze the compositionality characterization of LLMs. We conduct experiments and analysis of existing advanced LLMs based on this perspective on a string-to-grid task, and find various compositionality characterizations and compositionality deficiencies exhibited by LLMs.

Ziyao Xu, Cong Wang, Houfeng Wang

National Key Laboratory for Multimedia Information Processing, School of Computer Science, Peking University · OPPO AI Center

Compositional Generalization Compositionality Explainability Perspective

Apr 29, 2026cs.RO

Regression Test Selection for Updated Capability Modules in Compositional ML Systems via Atomic-Quality Probes

Compositional machine-learning (ML) systems assemble runtime behavior from libraries of independently re-trained capability modules. Replacing one module raises a regression-testing question that static dependence analysis cannot answer: which existing compositions stay valid, and at what test cost? We frame capability updates as regression test selection (RTS) and contribute four results. First, a paired cross-version swap protocol isolates the marginal effect of a single module update. Second, on two contact-rich manipulation tasks we characterize a dominant-skill effect: one capability module reaches 88.0% atomic success while siblings stay at or below 32.0%, and its inclusion shifts composition success by up to 52 percentage points; a controlled weight-space interpolation tracks composition success against atomic quality point-by-point (pooled Pearson r=0.94), and the effect replicates on a second task, where the governing module must lie on the critical path of the phase sequence. Third, off-policy behavioral-distance metrics fail to identify the dominant module. Fourth, a margin-gated Hybrid Selector matches full revalidation at zero per-decision test cost (75.0% gold-label agreement, with no detectable difference) and reaches 81.25% match at half of full-revalidation cost, beating a cost-matched random budget (Monte-Carlo p=0.039). A resolution analysis shows that coarse evaluation overstates the apparent advantage of full revalidation. The atomic-quality probe gives a principled test-selection criterion for capability-update regression testing in compositional ML systems.

Xue Qin, Simin Luan, Cong Yang +1

1*School of Software, Harbin Institute of Technology, Harbin, China. · School of Computer Science and Technology, Harbin Institute of Technology, Harbin, China. · School of Future Science and Engineering, Soochow University,2026 Suzhou, China.

Compositional Generalization Text Dominance

Apr 29, 2026cs.AI

AGEL-Comp: A Neuro-Symbolic Framework for Compositional Generalization in Interactive Agents

Large Language Model (LLM)-based agents exhibit systemic failures in compositional generalization, limiting their robustness in interactive environments. This work introduces AGEL-Comp, a neuro-symbolic AI agent architecture designed to address this challenge by grounding actions of the agent. AGEL-Comp integrates three core innovations: (1) a dynamic Causal Program Graph (CPG) as a world model, representing procedural and causal knowledge as a directed hypergraph; (2) an Inductive Logic Programming (ILP) engine that synthesizes new Horn clauses from experiential feedback, grounding symbolic knowledge through interaction; and (3) a hybrid reasoning core where an LLM proposes a set of candidate sub-goals that are verified for logical consistency by a Neural Theorem Prover (NTP). Together, these components operationalize a deduction--abduction learning cycle: enabling the agent to deduce plans and abductively expand its symbolic world model, while a neural adaptation phase keeps its reasoning engine aligned with new knowledge. We propose an evaluation protocol within the \texttt{Retro Quest} simulation environment to probe for compositional generalization scenarios to evaluate our AGEL agent. Our findings clearly indicate the better performance of our AGEL model over pure LLM-based models. Our framework presents a principled path toward agents that build an explicit, interpretable, and compositionally structured understanding of their world.

Mahnoor Shahid, Hannes Rothe

Universität Duisburg-Essen, Essen, Germany

Neuro-Symbolic Framework Compositional Generalization Age Vascular Age

Apr 29, 2026cs.AI

Grounding vs. Compositionality: On the Non-Complementarity of Reasoning in Neuro-Symbolic Systems

Compositional generalization remains a foundational weakness of modern neural networks, limiting their robustness and applicability in domains requiring out-of-distribution reasoning. A central, yet unverified, assumption in neuro-symbolic AI is that compositional reasoning will emerge as a byproduct of successful symbol grounding. This work presents the first systematic empirical analysis to challenge this assumption by disentangling the contributions of grounding and reasoning. To operationalize this investigation, we introduce the Iterative Logic Tensor Network (

i

LTN), a fully differentiable architecture designed for multi-step deduction. Using a formal taxonomy of generalization -- probing for novel entities, unseen relations, and complex rule compositions -- we demonstrate that a model trained solely on a grounding objective fails to generalize. In contrast, our full

i

LTN, trained jointly on perceptual grounding and multi-step reasoning, achieves high zero-shot accuracy across all tasks. Our findings provide conclusive evidence that symbol grounding, while necessary, is insufficient for generalization, establishing that reasoning is not an emergent property but a distinct capability that requires an explicit learning objective.

Mahnoor Shahid, Hannes Rothe

Universität Duisburg Essen, Germany

Neuro-Symbolic Framework Compositional Generalization Compositionality Contextual Grounding Tensor Networks Grounding+1

Apr 20, 2026cs.LG

Gradient-Based Program Synthesis with Neurally Interpreted Languages

A central challenge in program induction has long been the trade-off between symbolic and neural approaches. Symbolic methods offer compositional generalisation and data efficiency, yet their scalability is constrained by formalisms such as domain-specific languages (DSLs), which are labour-intensive to create and may not transfer to new domains. In contrast, neural networks flexibly learn from data but tend to generalise poorly in compositional and out-of-distribution settings. We bridge this divide with an instance of a Latent Adaptation Network architecture named Neural Language Interpreter (NLI), which learns its own discrete, symbolic-like programming language end-to-end. NLI autonomously discovers a vocabulary of primitive operations and uses a novel differentiable neural executor to interpret variable-length sequences of these primitives. This allows NLI to represent programs that are not bound to a constant number of computation steps, enabling it to solve more complex problems than those seen during training. To make these discrete, compositional program structures amenable to gradient-based optimisation, we employ the Gumbel-Softmax relaxation, enabling the entire model to be trained end-to-end. Crucially, this same differentiability enables powerful test-time adaptation. At inference, NLI's program inductor provides an initial program guess. This guess is then refined via gradient descent through the neural executor, enabling efficient search for the neural program that best explains the given data. We demonstrate that NLI outperforms in-context learning, test-time training, and continuous latent program networks on tasks that require combinatorial generalisation and rapid adaptation to unseen tasks. Our results establish a new path toward models that combine the compositionality of discrete languages with the gradient-based search and end-to-end learning of neural networks.

Matthew V. Macfarlane, Clément Bonnet, Herke van Hoof +1

AMLab, University of Amsterdam · Work completed while a visiting student at the University of Alberta. · Ndea +2

Llm-Driven Code Synthesis Neuro-Symbolic Framework Induction Compositional Generalization Synthesis

Apr 16, 2026cs.LG

$π_{0.7}$ : a Steerable Generalist Robotic Foundation Model with Emergent Capabilities

We present a new robotic foundation model, called

π_{0.7}

, that can enable strong out-of-the-box performance in a wide range of scenarios.

π_{0.7}

can follow diverse language instructions in unseen environments, including multi-stage tasks with various kitchen appliances, provide zero-shot cross-embodiment generalization, for example enabling a robot to fold laundry without seeing the task before, and perform challenging tasks such as operating an espresso machine out of the box at a level of performance that matches much more specialized RL-finetuned models. The main idea behind

π_{0.7}

is to use diverse context conditioning during training. This conditioning information, contained in the prompt, makes it possible to steer the model precisely to perform many tasks with different strategies. It is conditioned not just on a language command that describes what it should do, but on additional multimodal information that also describes the manner or strategy in which it should do it, including metadata about task performance and subgoal images. This enables

π_{0.7}

to use very diverse data, including demonstrations, potentially suboptimal (autonomous) data including failures, and data from non-robot sources. Our experiments evaluate

π_{0.7}

across numerous tasks with multiple robot platforms, on tasks that require speed and dexterity, language following, and compositional task generalization.

Physical Intelligence, Bo Ai, Ali Amin +85

Scalable Robot Learning Cross-Embodiment Transfer Compositional Generalization Emergence

Feb 27, 2026cs.CV

Compositional Generalization Requires Linear, Orthogonal Representations in Vision Embedding Models

Compositional generalization, the ability to recognize familiar parts in novel contexts, is a defining property of intelligent systems. Although modern models are trained on massive datasets, they still cover only a tiny fraction of the combinatorial space of possible inputs, raising the question of what structure representations must have to support generalization to unseen combinations. We formalize three desiderata for compositional generalization under standard training (divisibility, transferability, stability) and show they impose necessary geometric constraints: representations must decompose linearly into per-concept components, and these components must be orthogonal across concepts. This provides theoretical grounding for the Linear Representation Hypothesis: the linear structure widely observed in neural representations is a necessary consequence of compositional generalization. We further derive dimension bounds linking the number of composable concepts to the embedding geometry. Empirically, we evaluate these predictions across modern vision models (CLIP, SigLIP, DINO) and find that representations exhibit partial linear factorization with low-rank, near-orthogonal per-concept factors, and that the degree of this structure correlates with compositional generalization on unseen combinations. As models continue to scale, these conditions predict the representational geometry they may converge to. Code is available at https://github.com/oshapio/necessary-compositionality.

Arnas Uselis, Andrea Dittadi, Seong Joon Oh

Tübingen AI Center, University of Tübingen · Helmholtz · Technical University of Munich

Compositional Generalization Neural Representations Orthogonality

Jan 22, 2026cs.CV

Why Can't I Open My Drawer? Mitigating Object-Driven Shortcuts in Zero-Shot Compositional Action Recognition

Zero-Shot Compositional Action Recognition (ZS-CAR) requires recognizing novel verb-object combinations composed of previously observed primitives. In this work, we tackle a key failure mode: models predict verbs via object-driven shortcuts (i.e., relying on the labeled object class) rather than temporal evidence. We argue that sparse compositional supervision and verb-object learning asymmetry can promote object-driven shortcut learning. Our analysis with proposed diagnostic metrics shows that existing methods overfit to training co-occurrence patterns and underuse temporal verb cues, resulting in weak generalization to unseen compositions. To address object-driven shortcuts, we propose Robust COmpositional REpresentations (RCORE) with two components. Co-occurrence Prior Regularization (CPR) adds explicit supervision for unseen compositions and regularizes the model against frequent co-occurrence priors by treating them as hard negatives. Temporal Order Regularization for Composition (TORC) enforces temporal-order sensitivity to learn temporally grounded verb representations. Across Sth-com and EK100-com, RCORE reduces shortcut diagnostics and consequently improves compositional generalization.

Geo Ahn, Inwoong Lee, Taeoh Kim +3

1Kyung Hee University · ∗This work was done during an internship at NAVER Cloud. · 2NAVER Cloud

Open-Vocabulary Action Recognition Compositional Generalization Shortcut Learning Dual-Branch Temporal Modeling Token Co-Occurrence Graphs

Nov 9, 2025cs.LG

Mixtures of SubExperts for Large Language Continual Learning

Enabling lifelong learning in LLMs demands resolving the stability-plasticity dilemma (i.e., models must incorporate new knowledge without overwriting prior representations) while maintaining scalability under bounded parameter growth. Existing PEFT methods fail to satisfy this triad; shared-parameter approaches suffer from catastrophic interference, while task-isolated expansions preclude knowledge transfer and scale linearly. We propose Mixtures of SubExperts (MoSEs), a modular and sparse framework that factorizes model capacity into reusable, compositional primitives. MoSEs augment transformer layers with lightweight SubExperts and a learned sub-routing function that dynamically selects and composes a sparse subset of modules conditioned on task inputs. This induces a structured decomposition of the parameter space where knowledge is localized yet accessible, mitigating interference while preserving reuse. Specifically, MoSEs balance the dilemma via three pillars: (i) stability by isolating knowledge within sparsely activated modules, (ii) plasticity through routing-driven recombination and selective expansion, and (iii) scalability via sublinear growth in effective capacity. Notably, the routing mechanism enables compositional generalization, allowing new tasks to be represented as combinations of previously acquired sub-functions. We empirically validate MoSEs on TRACE and SuperNI, showing reduced forgetting, improved forward transfer, and better parameter efficiency over strong PEFT baselines. MoSEs establish a new Pareto frontier, achieving state-of-the-art performance while maintaining strict parameter budgets. Our results suggest that modular sparsity and compositional routing are key inductive biases for building foundation models that continually learn without saturation.

Haeyong Kang, Hee Suk Yoon, Dahua Feng +1

Korea Advanced Institute of Science and Technology (KAIST)

Replay-Based Continual Learning Parameter-Efficient Fine-Tuning Methods Plasticity Mixtures Experts Compositional Generalization

Oct 3, 2025cs.CV

What Drives Compositional Generalization in Visual Generative Models? The Importance of Continuous Training Objectives

Compositional generalization, the ability to generate novel combinations of known concepts, is a key ingredient for visual generative models. Yet, not all mechanisms that enable or inhibit it are fully understood. In this work, we conduct a systematic study of which design choices critically determine compositional generalization in image and video generation. By isolating independent design axes, we identify two key factors strongly associated with compositional success: (i) whether the training objective operates on a discrete or continuous distribution, and (ii) the completeness of conditioning information about constituent factors during training. We also show that relaxing the discrete loss with an auxiliary continuous latent objective can partially recover compositional performance in discrete models like MaskGIT. Our findings, corroborated by diverse compositional tasks and preliminary evidence in world models and LLMs, motivate a shift toward continuous objectives for compositional generalization.

Karim Farid, Rajat Sahay, Yumna Ali Alnaggar +4

University of Freiburg · Bosch Center for Artificial Intelligence · Inria, École Normale Supérieure, CNRS, PSL Research University

Compositional Generalization Generative Models Loss Function Importance

May 28, 2025cs.CL

Learning Composable Chains-of-Thought

A common approach for teaching large language models (LLMs) to reason is to train on chain-of-thought (CoT) traces of in-distribution reasoning problems, but such annotated data is costly to obtain for every problem of interest. We want reasoning models to generalize beyond their training distribution, and ideally to generalize compositionally: combine atomic reasoning skills to solve harder, unseen reasoning tasks. We take a step towards compositional generalization of reasoning skills when addressing a target compositional task that has no labeled CoT data. We find that simply training models on CoT data of atomic tasks leads to limited generalization, but minimally modifying CoT formats of constituent atomic tasks to be composable can lead to improvements. We can train "atomic CoT" models on the atomic tasks with Composable CoT data and combine them with multitask learning or model merging for better zero-shot performance on the target compositional task. Such a combined model can be further bootstrapped on a small amount of compositional data using rejection sampling fine-tuning (RFT). Results on string operations and natural language skill compositions show that training LLMs on Composable CoT outperforms multitask learning and continued fine-tuning baselines within a given training data budget.

Fangcong Yin, Zeyu Leo Liu, Liu Leqi +2

The University of Texas at Austin · Princeton University

LLM Reasoning Strategies Chain-of-Thought Reasoning Compositional Generalization Reasoning Skills

May 14, 2025cs.LG

Disassociating performance from compositional feature learning

Out-of-distribution (OOD) generalisation through composition requires a system to discover invariant properties from input-output associations and transfer them to novel inputs and unseen tasks. We argue that confirming compositional learning requires more than OOD evaluation alone: one must also verify that the learned features are genuinely compositional and that the system encodes their compositional rules. We demonstrate this through two tasks with clearly defined OOD metrics, generated via composable high-level abstractions, on which three standard architectures (MLP, CNN, Transformer) and an object-centric, slot-based architecture fail to generalise OOD. We pair these tasks with two novel attention-based architectures featuring an interpretable final hidden layer designed to expose whether compositional representations emerge. One architecture carries an engineered inductive bias that enables near-perfect OOD performance on one task. Our results show that even with appropriate biases and near-perfect OOD accuracy, a model can fail to learn the compositional feature structures necessary for systematic generalisation. The interpretable layer reveals that successful OOD performance is driven by task-specific biases rather than the discovery of reusable compositional primitives. These findings indicate that OOD benchmarks alone are insufficient for evaluating compositionality in neural networks.

George Dimitriadis, Spyridon Samothrakis

Computer Science and Electronic Engineering Department of the University of Essex

Compositional Generalization Out-Of-Distribution Feature Learning Convolutional Neural Networks General Intelligence

May 5, 2025cs.LG

A Theoretical Analysis of Provable Compositional Generalization in Neural Networks: A Necessary and Sufficient Condition

Compositional generalization

\unicode{x2013}

the ability to systematically process novel combinations of known components

\unicode{x2013}

is a hallmark of human intelligence; however, its theoretical foundation in neural networks is not yet well understood. This paper establishes a necessary and sufficient condition for provable compositional generalization, precisely characterizing its boundary. Conceptually, the condition consists of two principles: (i) structural alignment, where a model's computational graph aligns with a task's true compositional hierarchy, and (ii) unambiguous minimized representations, where each component encodes adequate but not redundant information on the training data. The result is fully proved and machine-verified in Lean 4 and holds even in few-shot and one-shot regimes. The necessity direction establishes that provable compositional generalization cannot circumvent these requirements, while the sufficiency direction yields a unified inductive bias that jointly governs architectural design, training data properties, and regularization strategies. Building on this condition, we develop an example algorithmic approach, illustrate it through a controlled minimal example, and further demonstrate the condition on the SCAN jump task. All conclusions are derived mathematically without reliance on empirical validation. Our work provides a theoretical characterization of provable compositional generalization.

Yuanpeng Li

Compositional Generalization Neural Network Inductive Bias Theory Sufficiency