Policy-Induced Hand Priors in Humanoid Dual-Arm Manipulation: Diagnosing and Mitigating Initial-Pose Dependence

Vision-language-action (VLA) policies are expected to operate robustly across variations in the robot's initial configuration, yet aggregate task success can conceal pose-specific failures and inappropriate hand selection. This work investigates initial-pose dependence in VLA-based humanoid dual-arm...