Author

Tejal Kulkarni

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Preprint Jul 2026

RoboTALES: Learning Reasoning-Guided Robot Policies via Task-Aligned Simulated Futures

This work proposes RoboTALES, a single-stage framework that learns task-aligned simulated futures and uses them to train robot policies and introduces two key innovations: a hierarchical LLM-based planner that breaks complex tasks into a sequence of subgoals to guide the model's imagination and a VLM-based critic that evaluates these ``imagined'' futures.

Hanan Gani, Tejal Kulkarni, Madhoolika Chodavarapu et al. · 0 citations