Hierarchical planning frameworks combine skills from multiple robot control policies for long-horizon task execution, where determining when to terminate the current skill and advance to the next subtask is essential. Existing approaches often rely on pre-designed completion signal checkers that are hard to obtain in r...
Jinbang Huang, Yuan Hu, Zhi-Yuan Li et al.· 0 citations
Faster-WAM, an instantiation of DoT for WAMs, which docks a single-layer action head onto a 30-layer video backbone, achieves competitive performance on LIBERO and RoboTwin 2.0 while demonstrating strong out-of-distribution generalization on LIBERO-Plus.
Liheng Ma, Rui Yang, Zhan-Guang Zhang et al.· 4 citations
RoboHarness is proposed, a unified framework that encapsulates independently developed robot control systems as reusable agentic skills as well as a general framework compatible with a broader range of robot policies, such as navigation policies, model predictive controllers, and world-action models.
Jinbang Huang, Yuan Hu, Zhiyuan Li et al.· arXiv.org· 3 citations· ⚡1
Future-State-Conditioned VLN (FSC-VLN), a deployable model that augments a causal policy with a future-query token and uses training-only future-state supervision to distill information from future observations into the policy state, is proposed.
Lingfeng Zhang, Zhanguang Zhang, Liheng Ma et al.· arXiv.org· 0 citations
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