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.
By Wei Wang, Wenqiao Zhang, Yutong Lin, Yuqian Yuan, Tianwei Lin, Jinhao Mao, Zhenxuan Fan, Mingjian Gao, Yang Dai, Wentong Li, Zheqi Lv, Zheng Dong, Yingjie Niu, Jiaqi Zhu, Jun Xiao, Chao Li, Yueting Zhuang
AtomicVLA is a unified planning-and-execution framework that generates task-level plans, atomic skill abstractions, and fine-grained actions for robotic manipulation. It builds a scalable atomic skill library using a Skill‑Guided Mixture‑of‑Experts (SG‑MoE) and a flexible routing encoder that assigns new skills to dedicated experts, enabling continual learning. Experiments show that AtomicVLA outperforms baseline models on both simulated and real‑world long‑horizon tasks, achieving significant improvements in task performance and learning efficiency.
By Likui Zhang, Tao Tang, Zhihao Zhan, Xiuwei Chen, Zisheng Chen, Jianhua Han, Jiangtong Zhu, Pei Xu, Hang Xu, Hefeng Wu, Liang Lin, Xiaodan Liang
arXiv:2602. 09430v2 Announce Type: replace-cross Abstract: Robotic laboratories play a critical role in autonomous scientific discovery by enabling scalable, continuous experimental execution.
By Yiwen Pang, Bo Zhou, Changjin Li, Xuanhao Wang, Shengxiang Xu, Deng-Bao Wang, Peng Cheng, Shimin Di, Jingkuan Song, Min-Ling Zhang
arXiv:2610.17114v1 Announce Type: cross
Abstract: Frontier large language models (LLMs) now reason about space well enough to program robots, yet the world models behind robot policies are implicit,...
By Xuan Wen, Baichao Wang
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...
By Thomas Landeg, Thierry Tambe
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...
By Yifan Kang, Zihan Wang, Zhiwen Fan, Bangya Liu
arXiv:2610.18874v1 Announce Type: cross
Abstract: Agentic robotics places a large language model (LLM) agent in the robot control loop, where it composes perception, motion, and vision-language-actio...
By Bingxin Xu, Wenrui Bao, Xinxin Liu, Jiawei Zhou, Yuzhang Shang, Emilio Ferrara
arXiv:2605.13119v2 Announce Type: replace-cross
Abstract: Vision-language-action (VLA) models are effective robot action executors, but they remain limited on long-horizon tasks due to the dual burde...
By Zixing Lei, Changxing Liu, Yichen Xiong, Minhao Xiong, Yuanzhuo Ding, Zhipeng Zhang, Weixin Li, Siheng Chen
arXiv:2609.36540v1 Announce Type: cross
Abstract: Generalist robot policies such as vision-language-action models (VLAs) have achieved remarkable generalization, but their inference delays can confli...
By Moritz Zoellner, Reece O'Mahoney, Ioannis Havoutis, Rohan Paleja
The study investigates how vision‑language‑action (VLA) policies behave when given no, meaningless, or infeasible instructions. Across six model checkpoints, robots often began moving and completed unintended tasks even with empty or nonsensical prompts. Various suppression techniques—prefixing a stop instruction, gating based on action similarity, and fine‑tuning—showed limited success in preventing unwanted motion or task execution.
By Minsu Jang, Jae-Woo Choi, Youngwoo Yoon, Dohyung Kim
arXiv:2610.00604v1 Announce Type: cross
Abstract: Vision-language-action policies often see only one or a few recent frames, which makes it difficult to evaluate how they use information that disappe...
By Egor Cherepanov, Nikita Kachaev, Aleksandr I. Panov, Alexey K. Kovalev
The paper proposes a new paradigm called Code-Only-as-Policy (COAP), treating the embodied world as a Turing machine where the robot and environment state are the tape and the policy is the code. COAP replaces traditional vision-language agents by using code to measure, track, and decide based on camera images and proprioception, enabling explicit state storage, fast execution, and extensibility across tasks. On RoboDojo’s 42 bimanual tasks, the COAP library achieved a 70.24% success rate without a model at test time.
By Kairui Hu, Siyuan Hu, Fangzhou Hong, Zhaoxi Chen, Ziwei Liu