Section 1: The Distributional Shift Problem At the heart of modern robotics lies a fundamental challenge. We train our most advanced models, known as Vision-Language-Action models or VLAs, using a technique called Behavioral Cloning. In essence, the robot watches millions of perfect, expert demonstrations and learns to imitate them. This is a powerful starting point, but it suffers from a critical flaw known as "covariate shift" or "distributional shift." Imagine learning to drive a car