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cs.RO2026
RoboHarness: Memory-Driven Orchestration of Heterogeneous Robot Policies for Long-Horizon Planning
Jinbang Huang, Yuanzhao Hu, Zhiyuan Li +6
Long-horizon robotic tasks require a breadth of capabilities beyond what any single existing robot control policy can reliably provide. Combining heterogeneous policies with comple…
cs.RO2026
H-WM: Robotic Task and Motion Planning Guided by Hierarchical World Model
Jinbang Huang, Wenyuan Chen, Zhiyuan Li +9
World models are becoming central to robotic planning and control by predicting future state transitions. Existing approaches mainly rely on visual, latent, or language prediction,…
cs.RO2025
One Demo Is All It Takes: Planning Domain Derivation with LLMs from A Single Demonstration
Jinbang Huang, Yixin Xiao, Zhanguang Zhang +3
Pre-trained large language models (LLMs) show promise for robotic task planning but often struggle to guarantee correctness in long-horizon problems. Task and motion planning (TAMP…