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This work presents X-Planner, a planning front-end that addresses both the supervision and representation of embodied reasoning, and describes planning-text quality and downstream execution.
Task planning bridges high-level instructions and executable behavior in long-horizon manipulation, yet modern Vision-Language-Action (VLA) systems often leave this intermediate structure implicit. Existing chain-of-thought (CoT) planners also tend to rely on coarse task-level annotations or serialize long reasoning tr...
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