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action-conditioned verification 1long-horizon planning 1mobile manipulation 1robotic perception 1world model 1

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cs.AI2026

Thinking in Text and Images: Interleaved Vision--Language Reasoning Traces for Long-Horizon Robot Manipulation

Jinkun Liu, Haohan Chi, Lingfeng Zhang +6

Long-horizon robotic manipulation requires plans that are both logically coherent and geometrically grounded. Existing Vision-Language-Action policies usually hide planning in late…