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cs.RO2026
LADDER: A Long-Horizon Robot Manipulation Benchmark
Petko Petkov, Giuliano Albanese, Nikolay Nikolov +3
General-purpose robot manipulation policies learn short-horizon skills effectively, but degrade rapidly on long-horizon tasks. Existing benchmarks cannot isolate failures because t…
cs.RO2026
AR-VLA: True Autoregressive Action Expert for Vision-Language-Action Models
Yutong Hu, Jan-Nico Zaech, Nikolay Nikolov +6
We propose a standalone autoregressive (AR) Action Expert that generates actions as a continuous causal sequence while conditioning on refreshable vision-language prefixes. In cont…