3 papers
cs.RO2026
Coarse-to-Control: Action-Token Planning for Vision-Language-Action Models
Jinhao Wu, Shiduo Zhang, Yicheng Liu +9
Most vision-language-action (VLA) models map observations directly to actions without explicit intermediate planning, which limits performance on long-horizon tasks where early mis…
cs.RO2026
DeCo: Task Decomposition and Skill Composition for Zero-Shot Generalization in Long-Horizon 3D Manipulation
Zixuan Chen, Junhui Yin, Yangtao Chen +6
Generalizing language-conditioned multi-task imitation learning (IL) models to novel long-horizon 3D manipulation tasks is challenging. To address this, we propose DeCo (Task Decom…
cs.RO2025
RoboHiMan: A Hierarchical Evaluation Paradigm for Compositional Generalization in Long-Horizon Manipulation
Yangtao Chen, Zixuan Chen, Nga Teng Chan +6
Enabling robots to flexibly schedule and compose learned skills for novel long-horizon manipulation under diverse perturbations remains a core challenge. Early explorations with en…