## Introduction – From Imitation to Imagination

Imagine a household robot that can **follow human instructions** flawlessly when everything goes as in training, but gets hopelessly stuck when something unexpected happens. This is the limitation of today’s **Vision-Language-Action (VLA)** models: they learn from **expert demonstrations** (imitation learning) and can repeat those behaviors, but they **can’t learn from their own mistakes**. If a task deviates from the scripted training scenar...