Author

Z. Chua

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Jun 2026

Sequential Planning via Anchored Robotic Keypoints

We present Sequential Planning via Anchored Robotic Keypoints, SPARK, a training-free neurosymbolic manipulation system that reaches 43.7% on six LIBERO-PRO position \&task cells, more than doubling CaP-Agent0 and Vision-Language-Action (VLA) baselines. CaP-Agent0, a multi-turn code-generation agent, achieves 18.2% by...

Bryce Grant, Aryeh Rothenberg, Logan Senning et al. · arXiv.org · 0 citations