Author

Haichao Gui

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Jul 2026

ACE: Agentic Control for Embodied Manipulation via Zero-shot Workflow Reasoning

While standard end-to-end baselines struggle to complete these logically demanding tasks, ACE achieves a 50% success rate in equation formation and a 70% success rate in constraint retrieval, demonstrating that explicit workflow reasoning and mask-mediated control offer a robust, practical route toward adaptable robotic manipulation.

Iok Tong Lei, Qianzhi Li, Ying Jie Yap et al. · arXiv.org · 0 citations