The paper introduces HALTER, a graph-based system that automates the reset and evaluation of long-horizon robot manipulation tasks. HALTER constructs a spatial scene graph from point clouds and vision models, uses an LLM to score rollouts, plan resets, and verify success, all without labeled success images. In experiments on a Franka arm, HALTER restores scenes in 76% of episodes, improves skill completion estimation, and reduces operator time by 72% compared to manual reset.
arXiv:2607. 09776v2 Announce Type: replace-cross Abstract: When adapting Vision Language Action (VLA) models to downstream tasks, multiple rounds of post-training are often required to progressively address policy weaknesses.
arXiv:2607. 09776v1 Announce Type: cross Abstract: When adapting Vision Language Action (VLA) models to downstream tasks, multiple rounds of post training are required because a single round of data cannot resolve all issues, making continuous iterations necessary to progressively address the weaknesses exposed in previous rounds.
The paper introduces Reliability‑Aware Future Conditioning (RAFC), a method that dynamically estimates how much to trust a generated future video clip and selects the most appropriate temporal hypothesis for robot manipulation tasks. By treating temporal misalignment as a control problem rather than a generation problem, RAFC improves success rates on the CALVIN benchmark and a Franka robot under various timing mismatches, outperforming static and uniform‑averaging baselines. The approach builds on Future‑Experience Conditioning (FEC) and learns solely from task reward without explicit alignment supervision.
arXiv:2608. 03483v1 Announce Type: cross Abstract: Existing chunk-based Vision-Language-Action (VLA) models execute a fixed number of actions (i.
arXiv:2610.32941v1 Announce Type: cross Abstract: Vision-Language-Action (VLA) models perform well on robotic manipulation, yet remain brittle once their own actions carry them into states their trai...
The paper introduces PARTS, a real‑world subtask reinforcement learning framework that fine‑tunes a pretrained robot policy by focusing on critical bottleneck subtasks while keeping the base policy frozen. It uses agent‑generated selectors and success verifiers to provide local rewards, enabling learning even when full‑task successes are rare. Experiments on bimanual YAM and single‑arm Franka robots show that PARTS raises complete‑task success from 32% to 61% and from 50% to 95%, respectively, with only tens of minutes of real‑world RL rollouts and minimal human intervention.
arXiv:2609.27450v1 Announce Type: cross Abstract: Vision-language-action (VLA) models handle long-horizon manipulation, yet success hinges on a few precision-critical phases where millimeter-scale er...
arXiv:2606. 26443v1 Announce Type: cross Abstract: A robot working alongside people must reason about what they have done, in what order, and with what intent.
arXiv:2609.37359v1 Announce Type: cross Abstract: Coding agents can now write, run, and debug programs with little human help. Robot tasks, however, are usually specified by a sentence that leaves ou...
LADDER is a long‑horizon robot manipulation benchmark that scales from 1 to 10 subgoals within the same environment, covering 145 tasks across three suites and two embodiments. The benchmark evaluates low‑level policies and orchestration methods, showing that while low‑level policies perform well on single‑subgoal tasks, they fail on extended tasks, and orchestration improves performance but is limited by execution errors. Tool‑selection orchestration with GPT‑Policy achieves the highest success rate (~62%) but at significant time and cost.
CarryOn is a dual-loop system that enhances frozen vision‑language‑action (VLA) policies for robotic assistance by adding personalization and reliable execution. The planning loop maintains persistent user and scene context to ground subtask decomposition in user preferences, while the execution loop supervises policy rollouts to prevent hazardous contact and recover from failures using reusable control skills. Experiments on a real robot and in simulation show that CarryOn reduces safety violations from 52.6% to 6.1% and increases recovery success from 13% to 80%.
EmbodiedSkills is a unified framework that treats each skill decision as an execution proposal, checking prerequisites and verifying outcomes during long‑horizon vision‑language‑action tasks. It connects high‑level skill selection, bounded low‑level VLA execution, and post‑action verification through a fixed executable‑skill interface, enabling easy replacement of low‑level policies and recording of structured trajectories for supervision and adaptation. Instantiated with Qwen3‑VL and OpenPI/pi0.5 on RoboTwin 2.0 and LIBERO, the framework achieves high success rates (86.20% and 97.40% respectively) and demonstrates effective memory‑dependent task performance.