Daily Papers

In this work, we introduce HoloBrain-0, a comprehensive Vision-Language-Action (VLA) framework that bridges the gap between foundation model research and reliable real-world robot deployment. The core of our system is a novel VLA architecture that explicitly incorporates robot embodiment priors, including multi-view camera parameters and kinematic descriptions (URDF), to enhance 3D spatial reasoning and support diverse embodiments. We validate this design through a scalable ``pre-train then post-train" paradigm, achieving state-of-the-art results on simulation benchmarks such as RoboTwin 2.0, LIBERO, and GenieSim, as well as strong results on challenging long-horizon real-world manipulation tasks. Notably, our efficient 0.2B-parameter variant rivals significantly larger baselines, enabling low-latency on-device deployment. To further accelerate research and practical adoption, we fully open-source the entire HoloBrain ecosystem, which includes: (1) powerful pre-trained VLA foundations; (2) post-trained checkpoints for multiple simulation suites and real-world tasks; and (3) RoboOrchard, a full-stack VLA infrastructure for data curation, model training and deployment. Together with standardized data collection protocols, this release provides the community with a complete, reproducible path toward high-performance robotic manipulation.

Many real-world manipulation tasks consist of a series of subtasks that are significantly different from one another. Such long-horizon, complex tasks highlight the potential of dexterous hands, which possess adaptability and versatility, capable of seamlessly transitioning between different modes of functionality without the need for re-grasping or external tools. However, the challenges arise due to the high-dimensional action space of dexterous hand and complex compositional dynamics of the long-horizon tasks. We present Sequential Dexterity, a general system based on reinforcement learning (RL) that chains multiple dexterous policies for achieving long-horizon task goals. The core of the system is a transition feasibility function that progressively finetunes the sub-policies for enhancing chaining success rate, while also enables autonomous policy-switching for recovery from failures and bypassing redundant stages. Despite being trained only in simulation with a few task objects, our system demonstrates generalization capability to novel object shapes and is able to zero-shot transfer to a real-world robot equipped with a dexterous hand. More details and video results could be found at https://sequential-dexterity.github.io

Sim2real for robotic manipulation is difficult due to the challenges of simulating complex contacts and generating realistic task distributions. To tackle the latter problem, we introduce ManipGen, which leverages a new class of policies for sim2real transfer: local policies. Locality enables a variety of appealing properties including invariances to absolute robot and object pose, skill ordering, and global scene configuration. We combine these policies with foundation models for vision, language and motion planning and demonstrate SOTA zero-shot performance of our method to Robosuite benchmark tasks in simulation (97%). We transfer our local policies from simulation to reality and observe they can solve unseen long-horizon manipulation tasks with up to 8 stages with significant pose, object and scene configuration variation. ManipGen outperforms SOTA approaches such as SayCan, OpenVLA, LLMTrajGen and VoxPoser across 50 real-world manipulation tasks by 36%, 76%, 62% and 60% respectively. Video results at https://mihdalal.github.io/manipgen/

We study how to improve large foundation vision-language-action (VLA) systems through online reinforcement learning (RL) in real-world settings. Central to this process is the value function, which provides learning signals to guide VLA learning from experience. In practice, the value function is estimated from trajectory fragments collected from different data sources, including historical policies and intermittent human interventions. Estimating the value function of current behavior quality from the mixture data is inherently an off-policy evaluation problem. However, prior work often adopts conservative on-policy estimation for stability, which avoids direct evaluation of the current high-capacity policy and limits learning effectiveness. In this paper, we propose ALOE, an action-level off-policy evaluation framework for VLA post-training. ALOE applies chunking-based temporal-difference bootstrapping to evaluate individual action sequences instead of predicting final task outcomes. This design improves effective credit assignment to critical action chunks under sparse rewards and supports stable policy improvement. We evaluate our method on three real-world manipulation tasks, including smartphone packing as a high-precision task, laundry folding as a long-horizon deformable-object task, and bimanual pick-and-place involving multi-object perception. Across all tasks, ALOE improves learning efficiency without compromising execution speed, showing that off-policy RL can be reintroduced in a reliable manner for real-world VLA post-training. Videos and additional materials are available at our project website.

Offline reinforcement learning (RL) presents an attractive paradigm for training intelligent agents without expensive online interactions. However, current approaches still struggle with complex, long-horizon sequential decision making. In this work, we introduce DEtached value learning with Action Sequence (DEAS), a simple yet effective offline RL framework that leverages action sequences for value learning. These temporally extended actions provide richer information than single-step actions and can be interpreted through the options framework via semi-Markov decision process Q-learning, enabling reduction of the effective planning horizon by considering longer sequences at once. However, directly adopting such sequences in actor-critic algorithms introduces excessive value overestimation, which we address through detached value learning that steers value estimates toward in-distribution actions that achieve high return in the offline dataset. We demonstrate that DEAS consistently outperforms baselines on complex, long-horizon tasks from OGBench and can be applied to enhance the performance of large-scale Vision-Language-Action models that predict action sequences, significantly boosting performance in both RoboCasa Kitchen simulation tasks and real-world manipulation tasks.

Enabling robots to execute long-horizon manipulation tasks from free-form language instructions remains a fundamental challenge in embodied AI. While vision-language models (VLMs) have shown promise as high-level planners, their deployment in the real world is hindered by two gaps: (i) the scarcity of large-scale, sequential manipulation data that couples natural language with multi-step action plans, and (ii) the absence of dense, interpretable rewards for fine-tuning VLMs on planning objectives. To address these issues, we propose REVER, a framework that empowers VLMs to generate and validate long-horizon manipulation plans from natural language instructions in real-world scenarios. Under REVER we train and release RoboFarseer, a VLM incentivized to emit chain-of-thought that perform temporal and spatial reasoning, ensuring physically plausible and logically coherent plans. To obtain training data, we leverage the Universal Manipulation Interface framework to capture hardware-agnostic demonstrations of atomic skills. An automated annotation engine converts each demonstration into vision-instruction-plan triplet. We introduce a verifiable reward that scores the generated plan by its ordered bipartite matching overlap with the ground-truth skill sequence. At run time, the fine-tuned VLM functions both as a planner and as a monitor, verifying step-wise completion. RoboFarseer matches or exceeds the performance of proprietary models that are orders of magnitude larger, while on open-ended planning it surpasses the best baseline by more than 40%. In real-world, long-horizon tasks, the complete system boosts overall success by roughly 60% compared with the same low-level controller without the planner. We will open-source both the dataset and the trained model upon publication.

Vision-Language-Action (VLA) models have recently enabled robotic manipulation by grounding visual and linguistic cues into actions. However, most VLAs assume the Markov property, relying only on the current observation and thus suffering from temporal myopia that degrades long-horizon coherence. In this work, we view motion as a more compact and informative representation of temporal context and world dynamics, capturing inter-state changes while filtering static pixel-level noise. Building on this idea, we propose HiF-VLA (Hindsight, Insight, and Foresight for VLAs), a unified framework that leverages motion for bidirectional temporal reasoning. HiF-VLA encodes past dynamics through hindsight priors, anticipates future motion via foresight reasoning, and integrates both through a hindsight-modulated joint expert to enable a ''think-while-acting'' paradigm for long-horizon manipulation. As a result, HiF-VLA surpasses strong baselines on LIBERO-Long and CALVIN ABC-D benchmarks, while incurring negligible additional inference latency. Furthermore, HiF-VLA achieves substantial improvements in real-world long-horizon manipulation tasks, demonstrating its broad effectiveness in practical robotic settings.

We tackle real-world long-horizon robot manipulation tasks through skill discovery. We present a bottom-up approach to learning a library of reusable skills from unsegmented demonstrations and use these skills to synthesize prolonged robot behaviors. Our method starts with constructing a hierarchical task structure from each demonstration through agglomerative clustering. From the task structures of multi-task demonstrations, we identify skills based on the recurring patterns and train goal-conditioned sensorimotor policies with hierarchical imitation learning. Finally, we train a meta controller to compose these skills to solve long-horizon manipulation tasks. The entire model can be trained on a small set of human demonstrations collected within 30 minutes without further annotations, making it amendable to real-world deployment. We systematically evaluated our method in simulation environments and on a real robot. Our method has shown superior performance over state-of-the-art imitation learning methods in multi-stage manipulation tasks. Furthermore, skills discovered from multi-task demonstrations boost the average task success by 8% compared to those discovered from individual tasks.

In recent years, imitation learning has made progress in the field of robotic manipulation. However, it still faces challenges when dealing with complex long-horizon deformable object tasks, such as high-dimensional state spaces, complex dynamics, and multimodal action distributions. Traditional imitation learning methods often require a large amount of data and encounter distributional shifts and accumulative errors in these tasks. To address these issues, we propose a data-efficient general learning framework (DeformPAM) based on preference learning and reward-guided action selection. DeformPAM decomposes long-horizon tasks into multiple action primitives, utilizes 3D point cloud inputs and diffusion models to model action distributions, and trains an implicit reward model using human preference data. During the inference phase, the reward model scores multiple candidate actions, selecting the optimal action for execution, thereby reducing the occurrence of anomalous actions and improving task completion quality. Experiments conducted on three challenging real-world long-horizon deformable object manipulation tasks demonstrate the effectiveness of this method. Results show that DeformPAM improves both task completion quality and efficiency compared to baseline methods even with limited data. Code and data will be available at https://deform-pam.robotflow.ai.

Humans excel in complex long-horizon soft body manipulation tasks via flexible tool use: bread baking requires a knife to slice the dough and a rolling pin to flatten it. Often regarded as a hallmark of human cognition, tool use in autonomous robots remains limited due to challenges in understanding tool-object interactions. Here we develop an intelligent robotic system, RoboCook, which perceives, models, and manipulates elasto-plastic objects with various tools. RoboCook uses point cloud scene representations, models tool-object interactions with Graph Neural Networks (GNNs), and combines tool classification with self-supervised policy learning to devise manipulation plans. We demonstrate that from just 20 minutes of real-world interaction data per tool, a general-purpose robot arm can learn complex long-horizon soft object manipulation tasks, such as making dumplings and alphabet letter cookies. Extensive evaluations show that RoboCook substantially outperforms state-of-the-art approaches, exhibits robustness against severe external disturbances, and demonstrates adaptability to different materials.

Vision-Language-Action (VLA) models and world models have recently emerged as promising paradigms for general-purpose robotic intelligence, yet their progress is hindered by the lack of reliable evaluation protocols that reflect real-world deployment. Existing benchmarks are largely simulator-centric, which provide controllability but fail to capture the reality gap caused by perception noise, complex contact dynamics, hardware constraints, and system latency. Moreover, fragmented real-world evaluations across different robot platforms prevent fair and reproducible comparison. To address these challenges, we introduce ManipArena, a standardized evaluation framework designed to bridge simulation and real-world execution. ManipArena comprises 20 diverse tasks across 10,812 expert trajectories emphasizing reasoning-oriented manipulation tasks requiring semantic and spatial reasoning, supports multi-level generalization through controlled out-of-distribution settings, and incorporates long-horizon mobile manipulation beyond tabletop scenarios. The framework further provides rich sensory diagnostics, including low-level motor signals, and synchronized real-to-sim environments constructed via high-quality 3D scanning. Together, these features enable fair, realistic, and reproducible evaluation for both VLA and world model approaches, providing a scalable foundation for diagnosing and advancing embodied intelligence systems.

Reinforcement learning has delivered promising results in achieving human- or even superhuman-level capabilities across diverse problem domains, but success in dexterous robot manipulation remains limited. This work investigates the key challenges in applying reinforcement learning to solve a collection of contact-rich manipulation tasks on a humanoid embodiment. We introduce novel techniques to overcome the identified challenges with empirical validation. Our main contributions include an automated real-to-sim tuning module that brings the simulated environment closer to the real world, a generalized reward design scheme that simplifies reward engineering for long-horizon contact-rich manipulation tasks, a divide-and-conquer distillation process that improves the sample efficiency of hard-exploration problems while maintaining sim-to-real performance, and a mixture of sparse and dense object representations to bridge the sim-to-real perception gap. We show promising results on three humanoid dexterous manipulation tasks, with ablation studies on each technique. Our work presents a successful approach to learning humanoid dexterous manipulation using sim-to-real reinforcement learning, achieving robust generalization and high performance without the need for human demonstration.

High-quality, long-horizon demonstrations are essential for embodied AI, yet acquiring such data for tightly coupled wheeled mobile manipulators remains a fundamental bottleneck. Unlike fixed-base systems, mobile manipulators require continuous coordination between SE(2) locomotion and precise manipulation, exposing limitations in existing teleoperation and wearable interfaces. We present SuperSuit, a bimodal data acquisition framework that supports both robot-in-the-loop teleoperation and active demonstration under a shared kinematic interface. Both modalities produce structurally identical joint-space trajectories, enabling direct data mixing without modifying downstream policies. For locomotion, SuperSuit maps natural human stepping to continuous planar base velocities, eliminating discrete command switches. For manipulation, it employs a strictly isomorphic wearable arm in both modes, while policy training is formulated in a shift-invariant delta-joint representation to mitigate calibration offsets and structural compliance without inverse kinematics. Real-world experiments on long-horizon mobile manipulation tasks show 2.6times higher demonstration throughput in active mode compared to a teleoperation baseline, comparable policy performance when substituting teleoperation data with active demonstrations at fixed dataset size, and monotonic performance improvement as active data volume increases. These results indicate that consistent kinematic representations across collection modalities enable scalable data acquisition for long-horizon mobile manipulation.

Learned language-conditioned robot policies often struggle to effectively adapt to new real-world tasks even when pre-trained across a diverse set of instructions. We propose a novel approach for few-shot adaptation to unseen tasks that exploits the semantic understanding of task decomposition provided by vision-language models (VLMs). Our method, Policy Adaptation via Language Optimization (PALO), combines a handful of demonstrations of a task with proposed language decompositions sampled from a VLM to quickly enable rapid nonparametric adaptation, avoiding the need for a larger fine-tuning dataset. We evaluate PALO on extensive real-world experiments consisting of challenging unseen, long-horizon robot manipulation tasks. We find that PALO is able of consistently complete long-horizon, multi-tier tasks in the real world, outperforming state of the art pre-trained generalist policies, and methods that have access to the same demonstrations.

Training Vision-Language-Action (VLA) models for generalist robots typically requires large-scale real-world robot data, which is expensive and time-consuming to collect. The inefficiency of physical data collection severely limits the scalability, and generalization capacity of current VLA systems. To address this challenge, we introduce GigaBrain-0, a novel VLA foundation model empowered by world model-generated data (e.g., video generation, real2real transfer, human transfer, view transfer, sim2real transfer data). By leveraging world models to generate diverse data at scale, GigaBrain-0 significantly reduces reliance on real robot data while improving cross-task generalization. Our approach further improves policy robustness through RGBD input modeling and embodied Chain-of-Thought (CoT) supervision, enabling the model to reason about spatial geometry, object states, and long-horizon dependencies during task execution. This leads to substantial gains in real-world performance on dexterous, long-horizon, and mobile manipulation tasks. Extensive experiments demonstrate that GigaBrain-0 achieves superior generalization across variations in appearances (e.g., textures, colors), object placements, and camera viewpoints. Additionally, we present GigaBrain-0-Small, an optimized lightweight variant designed to run efficiently on devices such as the NVIDIA Jetson AGX Orin.

Vision-language-action (VLA) models that directly predict multi-step action chunks from current observations face inherent limitations due to constrained scene understanding and weak future anticipation capabilities. In contrast, video world models pre-trained on web-scale video corpora exhibit robust spatiotemporal reasoning and accurate future prediction, making them a natural foundation for enhancing VLA learning. Therefore, we propose GigaBrain-0.5M*, a VLA model trained via world model-based reinforcement learning. Built upon GigaBrain-0.5, which is pre-trained on over 10,000 hours of robotic manipulation data, whose intermediate version currently ranks first on the international RoboChallenge benchmark. GigaBrain-0.5M* further integrates world model-based reinforcement learning via RAMP (Reinforcement leArning via world Model-conditioned Policy) to enable robust cross-task adaptation. Empirical results demonstrate that RAMP achieves substantial performance gains over the RECAP baseline, yielding improvements of approximately 30\% on challenging tasks including Laundry Folding, Box Packing, and Espresso Preparation. Critically, GigaBrain-0.5M^* exhibits reliable long-horizon execution, consistently accomplishing complex manipulation tasks without failure as validated by real-world deployment videos on our https://gigabrain05m.github.io{project page}.

Generalist robot learning remains constrained by data: large-scale, diverse, and high-quality interaction data are expensive to collect in the real world. While simulation has become a promising way for scaling up data collection, the related tasks, including simulation task design, task-aware scene generation, expert demonstration synthesis, and sim-to-real transfer, still demand substantial human effort. We present AnyTask, an automated framework that pairs massively parallel GPU simulation with foundation models to design diverse manipulation tasks and synthesize robot data. We introduce three AnyTask agents for generating expert demonstrations aiming to solve as many tasks as possible: 1) ViPR, a novel task and motion planning agent with VLM-in-the-loop Parallel Refinement; 2) ViPR-Eureka, a reinforcement learning agent with generated dense rewards and LLM-guided contact sampling; 3) ViPR-RL, a hybrid planning and learning approach that jointly produces high-quality demonstrations with only sparse rewards. We train behavior cloning policies on generated data, validate them in simulation, and deploy them directly on real robot hardware. The policies generalize to novel object poses, achieving 44% average success across a suite of real-world pick-and-place, drawer opening, contact-rich pushing, and long-horizon manipulation tasks. Our project website is at https://anytask.rai-inst.com .

Simulating deformable objects under rich interactions remains a fundamental challenge for real-to-sim robot manipulation, with dynamics jointly driven by environmental effects and robot actions. Existing simulators rely on predefined physics or data-driven dynamics without robot-conditioned control, limiting accuracy, stability, and generalization. This paper presents SoMA, a 3D Gaussian Splat simulator for soft-body manipulation. SoMA couples deformable dynamics, environmental forces, and robot joint actions in a unified latent neural space for end-to-end real-to-sim simulation. Modeling interactions over learned Gaussian splats enables controllable, stable long-horizon manipulation and generalization beyond observed trajectories without predefined physical models. SoMA improves resimulation accuracy and generalization on real-world robot manipulation by 20%, enabling stable simulation of complex tasks such as long-horizon cloth folding.

In order for robots to be useful, they must perform practically relevant tasks in the real world, outside of the lab. While vision-language-action (VLA) models have demonstrated impressive results for end-to-end robot control, it remains an open question how far such models can generalize in the wild. We describe pi_{0.5}, a new model based on pi_{0} that uses co-training on heterogeneous tasks to enable broad generalization. pi_{0.5}\ uses data from multiple robots, high-level semantic prediction, web data, and other sources to enable broadly generalizable real-world robotic manipulation. Our system uses a combination of co-training and hybrid multi-modal examples that combine image observations, language commands, object detections, semantic subtask prediction, and low-level actions. Our experiments show that this kind of knowledge transfer is essential for effective generalization, and we demonstrate for the first time that an end-to-end learning-enabled robotic system can perform long-horizon and dexterous manipulation skills, such as cleaning a kitchen or bedroom, in entirely new homes.

Language-guided long-horizon mobile manipulation has long been a grand challenge in embodied semantic reasoning, generalizable manipulation, and adaptive locomotion. Three fundamental limitations hinder progress: First, although large language models have improved spatial reasoning and task planning through semantic priors, existing implementations remain confined to tabletop scenarios, failing to address the constrained perception and limited actuation ranges of mobile platforms. Second, current manipulation strategies exhibit insufficient generalization when confronted with the diverse object configurations encountered in open-world environments. Third, while crucial for practical deployment, the dual requirement of maintaining high platform maneuverability alongside precise end-effector control in unstructured settings remains understudied. In this work, we present ODYSSEY, a unified mobile manipulation framework for agile quadruped robots equipped with manipulators, which seamlessly integrates high-level task planning with low-level whole-body control. To address the challenge of egocentric perception in language-conditioned tasks, we introduce a hierarchical planner powered by a vision-language model, enabling long-horizon instruction decomposition and precise action execution. At the control level, our novel whole-body policy achieves robust coordination across challenging terrains. We further present the first benchmark for long-horizon mobile manipulation, evaluating diverse indoor and outdoor scenarios. Through successful sim-to-real transfer, we demonstrate the system's generalization and robustness in real-world deployments, underscoring the practicality of legged manipulators in unstructured environments. Our work advances the feasibility of generalized robotic assistants capable of complex, dynamic tasks. Our project page: https://kaijwang.github.io/odyssey.github.io/

Real-world robotic tasks stretch over extended horizons and encompass multiple stages. Learning long-horizon manipulation tasks, however, is a long-standing challenge, and demands decomposing the overarching task into several manageable subtasks to facilitate policy learning and generalization to unseen tasks. Prior task decomposition methods require task-specific knowledge, are computationally intensive, and cannot readily be applied to new tasks. To address these shortcomings, we propose Universal Visual Decomposer (UVD), an off-the-shelf task decomposition method for visual long horizon manipulation using pre-trained visual representations designed for robotic control. At a high level, UVD discovers subgoals by detecting phase shifts in the embedding space of the pre-trained representation. Operating purely on visual demonstrations without auxiliary information, UVD can effectively extract visual subgoals embedded in the videos, while incurring zero additional training cost on top of standard visuomotor policy training. Goal-conditioned policies learned with UVD-discovered subgoals exhibit significantly improved compositional generalization at test time to unseen tasks. Furthermore, UVD-discovered subgoals can be used to construct goal-based reward shaping that jump-starts temporally extended exploration for reinforcement learning. We extensively evaluate UVD on both simulation and real-world tasks, and in all cases, UVD substantially outperforms baselines across imitation and reinforcement learning settings on in-domain and out-of-domain task sequences alike, validating the clear advantage of automated visual task decomposition within the simple, compact UVD framework.

Vision-Language-Action (VLA) models have become a cornerstone in robotic policy learning, leveraging large-scale multimodal data for robust and scalable control. However, existing VLA frameworks primarily address short-horizon tasks, and their effectiveness on long-horizon, multi-step robotic manipulation remains limited due to challenges in skill chaining and subtask dependencies. In this work, we introduce Long-VLA, the first end-to-end VLA model specifically designed for long-horizon robotic tasks. Our approach features a novel phase-aware input masking strategy that adaptively segments each subtask into moving and interaction phases, enabling the model to focus on phase-relevant sensory cues and enhancing subtask compatibility. This unified strategy preserves the scalability and data efficiency of VLA training, and our architecture-agnostic module can be seamlessly integrated into existing VLA models. We further propose the L-CALVIN benchmark to systematically evaluate long-horizon manipulation. Extensive experiments on both simulated and real-world tasks demonstrate that Long-VLA significantly outperforms prior state-of-the-art methods, establishing a new baseline for long-horizon robotic control.

Equipping embodied agents with the ability to reason about tasks, foresee physical outcomes, and generate precise actions is essential for general-purpose manipulation. While recent Vision-Language-Action (VLA) models have leveraged pre-trained foundation models, they typically focus on either linguistic planning or visual forecasting in isolation. These methods rarely integrate both capabilities simultaneously to guide action generation, leading to suboptimal performance in complex, long-horizon manipulation tasks. To bridge this gap, we propose BagelVLA, a unified model that integrates linguistic planning, visual forecasting, and action generation within a single framework. Initialized from a pretrained unified understanding and generative model, BagelVLA is trained to interleave textual reasoning and visual prediction directly into the action execution loop. To efficiently couple these modalities, we introduce Residual Flow Guidance (RFG), which initializes from current observation and leverages single-step denoising to extract predictive visual features, guiding action generation with minimal latency. Extensive experiments demonstrate that BagelVLA outperforms existing baselines by a significant margin on multiple simulated and real-world benchmarks, particularly in tasks requiring multi-stage reasoning.

The capability of performing long-horizon, language-guided robotic manipulation tasks critically relies on leveraging historical information and generating coherent action sequences. However, such capabilities are often overlooked by existing Vision-Language-Action (VLA) models. To solve this challenge, we propose LoLA (Long Horizon Latent Action Learning), a framework designed for robot manipulation that integrates long-term multi-view observations and robot proprioception to enable multi-step reasoning and action generation. We first employ Vision-Language Models to encode rich contextual features from historical sequences and multi-view observations. We further introduces a key module, State-Aware Latent Re-representation, which transforms visual inputs and language commands into actionable robot motion space. Unlike existing VLA approaches that merely concatenate robot proprioception (e.g., joint angles) with VL embeddings, this module leverages such robot states to explicitly ground VL representations in physical scale through a learnable "embodiment-anchored" latent space. We trained LoLA on diverse robotic pre-training datasets and conducted extensive evaluations on simulation benchmarks (SIMPLER and LIBERO), as well as two real-world tasks on Franka and Bi-Manual Aloha robots. Results show that LoLA significantly outperforms prior state-of-the-art methods (e.g., pi0), particularly in long-horizon manipulation tasks.

Reinforcement learning (RL) with dense rewards and imitation learning (IL) with human-generated trajectories are the most widely used approaches for training modern embodied agents. RL requires extensive reward shaping and auxiliary losses and is often too slow and ineffective for long-horizon tasks. While IL with human supervision is effective, collecting human trajectories at scale is extremely expensive. In this work, we show that imitating shortest-path planners in simulation produces agents that, given a language instruction, can proficiently navigate, explore, and manipulate objects in both simulation and in the real world using only RGB sensors (no depth map or GPS coordinates). This surprising result is enabled by our end-to-end, transformer-based, SPOC architecture, powerful visual encoders paired with extensive image augmentation, and the dramatic scale and diversity of our training data: millions of frames of shortest-path-expert trajectories collected inside approximately 200,000 procedurally generated houses containing 40,000 unique 3D assets. Our models, data, training code, and newly proposed 10-task benchmarking suite CHORES are available in https://spoc-robot.github.io.

We explore how scalable robot data can address real-world challenges for generalized robotic manipulation. Introducing AgiBot World, a large-scale platform comprising over 1 million trajectories across 217 tasks in five deployment scenarios, we achieve an order-of-magnitude increase in data scale compared to existing datasets. Accelerated by a standardized collection pipeline with human-in-the-loop verification, AgiBot World guarantees high-quality and diverse data distribution. It is extensible from grippers to dexterous hands and visuo-tactile sensors for fine-grained skill acquisition. Building on top of data, we introduce Genie Operator-1 (GO-1), a novel generalist policy that leverages latent action representations to maximize data utilization, demonstrating predictable performance scaling with increased data volume. Policies pre-trained on our dataset achieve an average performance improvement of 30% over those trained on Open X-Embodiment, both in in-domain and out-of-distribution scenarios. GO-1 exhibits exceptional capability in real-world dexterous and long-horizon tasks, achieving over 60% success rate on complex tasks and outperforming prior RDT approach by 32%. By open-sourcing the dataset, tools, and models, we aim to democratize access to large-scale, high-quality robot data, advancing the pursuit of scalable and general-purpose intelligence.

Temporal context is essential for robotic manipulation because such tasks are inherently non-Markovian, yet mainstream VLA models typically overlook it and struggle with long-horizon, temporally dependent tasks. Cognitive science suggests that humans rely on working memory to buffer short-lived representations for immediate control, while the hippocampal system preserves verbatim episodic details and semantic gist of past experience for long-term memory. Inspired by these mechanisms, we propose MemoryVLA, a Cognition-Memory-Action framework for long-horizon robotic manipulation. A pretrained VLM encodes the observation into perceptual and cognitive tokens that form working memory, while a Perceptual-Cognitive Memory Bank stores low-level details and high-level semantics consolidated from it. Working memory retrieves decision-relevant entries from the bank, adaptively fuses them with current tokens, and updates the bank by merging redundancies. Using these tokens, a memory-conditioned diffusion action expert yields temporally aware action sequences. We evaluate MemoryVLA on 150+ simulation and real-world tasks across three robots. On SimplerEnv-Bridge, Fractal, and LIBERO-5 suites, it achieves 71.9%, 72.7%, and 96.5% success rates, respectively, all outperforming state-of-the-art baselines CogACT and pi-0, with a notable +14.6 gain on Bridge. On 12 real-world tasks spanning general skills and long-horizon temporal dependencies, MemoryVLA achieves 84.0% success rate, with long-horizon tasks showing a +26 improvement over state-of-the-art baseline. Project Page: https://shihao1895.github.io/MemoryVLA

Modern robotic manipulation primarily relies on visual observations in a 2D color space for skill learning but suffers from poor generalization. In contrast, humans, living in a 3D world, depend more on physical properties-such as distance, size, and shape-than on texture when interacting with objects. Since such 3D geometric information can be acquired from widely available depth cameras, it appears feasible to endow robots with similar perceptual capabilities. Our pilot study found that using depth cameras for manipulation is challenging, primarily due to their limited accuracy and susceptibility to various types of noise. In this work, we propose Camera Depth Models (CDMs) as a simple plugin on daily-use depth cameras, which take RGB images and raw depth signals as input and output denoised, accurate metric depth. To achieve this, we develop a neural data engine that generates high-quality paired data from simulation by modeling a depth camera's noise pattern. Our results show that CDMs achieve nearly simulation-level accuracy in depth prediction, effectively bridging the sim-to-real gap for manipulation tasks. Notably, our experiments demonstrate, for the first time, that a policy trained on raw simulated depth, without the need for adding noise or real-world fine-tuning, generalizes seamlessly to real-world robots on two challenging long-horizon tasks involving articulated, reflective, and slender objects, with little to no performance degradation. We hope our findings will inspire future research in utilizing simulation data and 3D information in general robot policies.

Imitation learning from human-provided demonstrations is a strong approach for learning policies for robot manipulation. While the ideal dataset for imitation learning is homogenous and low-variance -- reflecting a single, optimal method for performing a task -- natural human behavior has a great deal of heterogeneity, with several optimal ways to demonstrate a task. This multimodality is inconsequential to human users, with task variations manifesting as subconscious choices; for example, reaching down, then across to grasp an object, versus reaching across, then down. Yet, this mismatch presents a problem for interactive imitation learning, where sequences of users improve on a policy by iteratively collecting new, possibly conflicting demonstrations. To combat this problem of demonstrator incompatibility, this work designs an approach for 1) measuring the compatibility of a new demonstration given a base policy, and 2) actively eliciting more compatible demonstrations from new users. Across two simulation tasks requiring long-horizon, dexterous manipulation and a real-world "food plating" task with a Franka Emika Panda arm, we show that we can both identify incompatible demonstrations via post-hoc filtering, and apply our compatibility measure to actively elicit compatible demonstrations from new users, leading to improved task success rates across simulated and real environments.

The 2025 BEHAVIOR Challenge is designed to rigorously track progress toward solving long-horizon tasks by physical agents in simulated environments. BEHAVIOR-1K focuses on everyday household tasks that people most want robots to assist with and these tasks introduce long-horizon mobile manipulation challenges in realistic settings, bridging the gap between current research and real-world, human-centric applications. This report presents our solution to the 2025 BEHAVIOR Challenge in a very close 2nd place and substantially outperforms the rest of the submissions. Building on π_{0.5}, we focus on systematically building our solution by studying the effects of training techniques and data. Through careful ablations, we show the scaling power in pre-training and post-training phases for competitive performance. We summarize our practical lessons and design recommendations that we hope will provide actionable insights for the broader embodied AI community when adapting powerful foundation models to complex embodied scenarios.

Long-horizon robotic manipulation remains challenging for Vision-Language-Action (VLA) models despite recent progress in zero-shot generalization and simulation-to-real-world transfer. Current VLA models suffer from stage hallucination, where agents exploit coarse evaluation signals to shortcut multi-step tasks, reporting high progress without truly completing them. We present EvoVLA, a self-supervised VLA framework that addresses this issue through three complementary components: Stage-Aligned Reward (SAR), which uses triplet contrastive learning with Gemini-generated hard negatives to prevent visual shortcuts; Pose-Based Object Exploration (POE), which grounds curiosity in relative object-gripper pose instead of raw pixels; and Long-Horizon Memory, which uses selective context retention and gated fusion to stabilize intrinsic shaping during extended rollouts. Extensive evaluations on Discoverse-L, a long-horizon manipulation benchmark with three multi-stage tasks, show that EvoVLA improves average task success by 10.2 percentage points over the strongest baseline (OpenVLA-OFT), reaching 69.2 percent. EvoVLA also achieves one-and-a-half times better sample efficiency and reduces stage hallucination from 38.5 percent to 14.8 percent. Real-world deployment on physical robots reaches an average success rate of 54.6 percent across four manipulation tasks, outperforming OpenVLA-OFT by 11 points, demonstrating effective sim-to-real transfer and strong generalization. Code: https://github.com/AIGeeksGroup/EvoVLA. Website: https://aigeeksgroup.github.io/EvoVLA.

Recent works have shown how the reasoning capabilities of Large Language Models (LLMs) can be applied to domains beyond natural language processing, such as planning and interaction for robots. These embodied problems require an agent to understand many semantic aspects of the world: the repertoire of skills available, how these skills influence the world, and how changes to the world map back to the language. LLMs planning in embodied environments need to consider not just what skills to do, but also how and when to do them - answers that change over time in response to the agent's own choices. In this work, we investigate to what extent LLMs used in such embodied contexts can reason over sources of feedback provided through natural language, without any additional training. We propose that by leveraging environment feedback, LLMs are able to form an inner monologue that allows them to more richly process and plan in robotic control scenarios. We investigate a variety of sources of feedback, such as success detection, scene description, and human interaction. We find that closed-loop language feedback significantly improves high-level instruction completion on three domains, including simulated and real table top rearrangement tasks and long-horizon mobile manipulation tasks in a kitchen environment in the real world.

`In-the-wild' mobile manipulation aims to deploy robots in diverse real-world environments, which requires the robot to (1) have skills that generalize across object configurations; (2) be capable of long-horizon task execution in diverse environments; and (3) perform complex manipulation beyond pick-and-place. Quadruped robots with manipulators hold promise for extending the workspace and enabling robust locomotion, but existing results do not investigate such a capability. This paper proposes WildLMa with three components to address these issues: (1) adaptation of learned low-level controller for VR-enabled whole-body teleoperation and traversability; (2) WildLMa-Skill -- a library of generalizable visuomotor skills acquired via imitation learning or heuristics and (3) WildLMa-Planner -- an interface of learned skills that allow LLM planners to coordinate skills for long-horizon tasks. We demonstrate the importance of high-quality training data by achieving higher grasping success rate over existing RL baselines using only tens of demonstrations. WildLMa exploits CLIP for language-conditioned imitation learning that empirically generalizes to objects unseen in training demonstrations. Besides extensive quantitative evaluation, we qualitatively demonstrate practical robot applications, such as cleaning up trash in university hallways or outdoor terrains, operating articulated objects, and rearranging items on a bookshelf.

While natural language offers a convenient shared interface for humans and robots, enabling robots to interpret and follow language commands remains a longstanding challenge in manipulation. A crucial step to realizing a performant instruction-following robot is achieving semantic manipulation, where a robot interprets language at different specificities, from high-level instructions like "Pick up the stuffed animal" to more detailed inputs like "Grab the left ear of the elephant." To tackle this, we propose Keypoints + Instructions to Execution (KITE), a two-step framework for semantic manipulation which attends to both scene semantics (distinguishing between different objects in a visual scene) and object semantics (precisely localizing different parts within an object instance). KITE first grounds an input instruction in a visual scene through 2D image keypoints, providing a highly accurate object-centric bias for downstream action inference. Provided an RGB-D scene observation, KITE then executes a learned keypoint-conditioned skill to carry out the instruction. The combined precision of keypoints and parameterized skills enables fine-grained manipulation with generalization to scene and object variations. Empirically, we demonstrate KITE in 3 real-world environments: long-horizon 6-DoF tabletop manipulation, semantic grasping, and a high-precision coffee-making task. In these settings, KITE achieves a 75%, 70%, and 71% overall success rate for instruction-following, respectively. KITE outperforms frameworks that opt for pre-trained visual language models over keypoint-based grounding, or omit skills in favor of end-to-end visuomotor control, all while being trained from fewer or comparable amounts of demonstrations. Supplementary material, datasets, code, and videos can be found on our website: http://tinyurl.com/kite-site.

Specifying robotic manipulation tasks in a manner that is both expressive and precise remains a central challenge. While visual goals provide a compact and unambiguous task specification, existing goal-conditioned policies often struggle with long-horizon manipulation due to their reliance on single-step action prediction without explicit modeling of task progress. We propose Act2Goal, a general goal-conditioned manipulation policy that integrates a goal-conditioned visual world model with multi-scale temporal control. Given a current observation and a target visual goal, the world model generates a plausible sequence of intermediate visual states that captures long-horizon structure. To translate this visual plan into robust execution, we introduce Multi-Scale Temporal Hashing (MSTH), which decomposes the imagined trajectory into dense proximal frames for fine-grained closed-loop control and sparse distal frames that anchor global task consistency. The policy couples these representations with motor control through end-to-end cross-attention, enabling coherent long-horizon behavior while remaining reactive to local disturbances. Act2Goal achieves strong zero-shot generalization to novel objects, spatial layouts, and environments. We further enable reward-free online adaptation through hindsight goal relabeling with LoRA-based finetuning, allowing rapid autonomous improvement without external supervision. Real-robot experiments demonstrate that Act2Goal improves success rates from 30% to 90% on challenging out-of-distribution tasks within minutes of autonomous interaction, validating that goal-conditioned world models with multi-scale temporal control provide structured guidance necessary for robust long-horizon manipulation. Project page: https://act2goal.github.io/

Instructing a robot to complete an everyday task within our homes has been a long-standing challenge for robotics. While recent progress in language-conditioned imitation learning and offline reinforcement learning has demonstrated impressive performance across a wide range of tasks, they are typically limited to short-horizon tasks -- not reflective of those a home robot would be expected to complete. While existing architectures have the potential to learn these desired behaviours, the lack of the necessary long-horizon, multi-step datasets for real robotic systems poses a significant challenge. To this end, we present the Long-Horizon Manipulation (LHManip) dataset comprising 200 episodes, demonstrating 20 different manipulation tasks via real robot teleoperation. The tasks entail multiple sub-tasks, including grasping, pushing, stacking and throwing objects in highly cluttered environments. Each task is paired with a natural language instruction and multi-camera viewpoints for point-cloud or NeRF reconstruction. In total, the dataset comprises 176,278 observation-action pairs which form part of the Open X-Embodiment dataset. The full LHManip dataset is made publicly available at https://github.com/fedeceola/LHManip.

Everyday tasks of long-horizon and comprising a sequence of multiple implicit subtasks still impose a major challenge in offline robot control. While a number of prior methods aimed to address this setting with variants of imitation and offline reinforcement learning, the learned behavior is typically narrow and often struggles to reach configurable long-horizon goals. As both paradigms have complementary strengths and weaknesses, we propose a novel hierarchical approach that combines the strengths of both methods to learn task-agnostic long-horizon policies from high-dimensional camera observations. Concretely, we combine a low-level policy that learns latent skills via imitation learning and a high-level policy learned from offline reinforcement learning for skill-chaining the latent behavior priors. Experiments in various simulated and real robot control tasks show that our formulation enables producing previously unseen combinations of skills to reach temporally extended goals by "stitching" together latent skills through goal chaining with an order-of-magnitude improvement in performance upon state-of-the-art baselines. We even learn one multi-task visuomotor policy for 25 distinct manipulation tasks in the real world which outperforms both imitation learning and offline reinforcement learning techniques.

Long-horizon contact-rich tasks are challenging to learn with reinforcement learning, due to ineffective exploration of high-dimensional state spaces with sparse rewards. The learning process often gets stuck in local optimum and demands task-specific reward fine-tuning for complex scenarios. In this work, we propose a structured framework that leverages privileged actions with curriculum learning, enabling the policy to efficiently acquire long-horizon skills without relying on extensive reward engineering or reference trajectories. Specifically, we use privileged actions in simulation with a general training procedure that would be infeasible to implement in real-world scenarios. These privileges include relaxed constraints and virtual forces that enhance interaction and exploration with objects. Our results successfully achieve complex multi-stage long-horizon tasks that naturally combine non-prehensile manipulation with grasping to lift objects from non-graspable poses. We demonstrate generality by maintaining a parsimonious reward structure and showing convergence to diverse and robust behaviors across various environments. Additionally, real-world experiments further confirm that the skills acquired using our approach are transferable to real-world environments, exhibiting robust and intricate performance. Our approach outperforms state-of-the-art methods in these tasks, converging to solutions where others fail.

The convergence of embodied agents and large language models (LLMs) has brought significant advancements to embodied instruction following. Particularly, the strong reasoning capabilities of LLMs make it possible for robots to perform long-horizon tasks without expensive annotated demonstrations. However, public benchmarks for testing the long-horizon reasoning capabilities of language-conditioned robots in various scenarios are still missing. To fill this gap, this work focuses on the tabletop manipulation task and releases a simulation benchmark, LoHoRavens, which covers various long-horizon reasoning aspects spanning color, size, space, arithmetics and reference. Furthermore, there is a key modality bridging problem for long-horizon manipulation tasks with LLMs: how to incorporate the observation feedback during robot execution for the LLM's closed-loop planning, which is however less studied by prior work. We investigate two methods of bridging the modality gap: caption generation and learnable interface for incorporating explicit and implicit observation feedback to the LLM, respectively. These methods serve as the two baselines for our proposed benchmark. Experiments show that both methods struggle to solve some tasks, indicating long-horizon manipulation tasks are still challenging for current popular models. We expect the proposed public benchmark and baselines can help the community develop better models for long-horizon tabletop manipulation tasks.

Hierarchical policies that combine language and low-level control have been shown to perform impressively long-horizon robotic tasks, by leveraging either zero-shot high-level planners like pretrained language and vision-language models (LLMs/VLMs) or models trained on annotated robotic demonstrations. However, for complex and dexterous skills, attaining high success rates on long-horizon tasks still represents a major challenge -- the longer the task is, the more likely it is that some stage will fail. Can humans help the robot to continuously improve its long-horizon task performance through intuitive and natural feedback? In this paper, we make the following observation: high-level policies that index into sufficiently rich and expressive low-level language-conditioned skills can be readily supervised with human feedback in the form of language corrections. We show that even fine-grained corrections, such as small movements ("move a bit to the left"), can be effectively incorporated into high-level policies, and that such corrections can be readily obtained from humans observing the robot and making occasional suggestions. This framework enables robots not only to rapidly adapt to real-time language feedback, but also incorporate this feedback into an iterative training scheme that improves the high-level policy's ability to correct errors in both low-level execution and high-level decision-making purely from verbal feedback. Our evaluation on real hardware shows that this leads to significant performance improvement in long-horizon, dexterous manipulation tasks without the need for any additional teleoperation. Videos and code are available at https://yay-robot.github.io/.

Efficient control in long-horizon robotic manipulation is challenging due to complex representation and policy learning requirements. Model-based visual reinforcement learning (RL) has shown great potential in addressing these challenges but still faces notable limitations, particularly in handling sparse rewards and complex visual features in long-horizon environments. To address these limitations, we propose the Recognize-Sense-Plan-Act (RSPA) pipeline for long-horizon tasks and further introduce RoboHorizon, an LLM-assisted multi-view world model tailored for long-horizon robotic manipulation. In RoboHorizon, pre-trained LLMs generate dense reward structures for multi-stage sub-tasks based on task language instructions, enabling robots to better recognize long-horizon tasks. Keyframe discovery is then integrated into the multi-view masked autoencoder (MAE) architecture to enhance the robot's ability to sense critical task sequences, strengthening its multi-stage perception of long-horizon processes. Leveraging these dense rewards and multi-view representations, a robotic world model is constructed to efficiently plan long-horizon tasks, enabling the robot to reliably act through RL algorithms. Experiments on two representative benchmarks, RLBench and FurnitureBench, show that RoboHorizon outperforms state-of-the-art visual model-based RL methods, achieving a 23.35% improvement in task success rates on RLBench's 4 short-horizon tasks and a 29.23% improvement on 6 long-horizon tasks from RLBench and 3 furniture assembly tasks from FurnitureBench.

High-reliability long-horizon robotic manipulation has traditionally relied on large-scale data and compute to understand complex real-world dynamics. However, we identify that the primary bottleneck to real-world robustness is not resource scale alone, but the distributional shift among the human demonstration distribution, the inductive bias learned by the policy, and the test-time execution distribution -- a systematic inconsistency that causes compounding errors in multi-stage tasks. To mitigate these inconsistencies, we propose χ_{0}, a resource-efficient framework with effective modules designated to achieve production-level robustness in robotic manipulation. Our approach builds off three technical pillars: (i) Model Arithmetic, a weight-space merging strategy that efficiently soaks up diverse distributions of different demonstrations, varying from object appearance to state variations; (ii) Stage Advantage, a stage-aware advantage estimator that provides stable, dense progress signals, overcoming the numerical instability of prior non-stage approaches; and (iii) Train-Deploy Alignment, which bridges the distribution gap via spatio-temporal augmentation, heuristic DAgger corrections, and temporal chunk-wise smoothing. χ_{0} enables two sets of dual-arm robots to collaboratively orchestrate long-horizon garment manipulation, spanning tasks from flattening, folding, to hanging different clothes. Our method exhibits high-reliability autonomy; we are able to run the system from arbitrary initial state for consecutive 24 hours non-stop. Experiments validate that χ_{0} surpasses the state-of-the-art π_{0.5} in success rate by nearly 250%, with only 20-hour data and 8 A100 GPUs. Code, data and models will be released to facilitate the community.

Real-world long-horizon embodied planning underpins embodied AI. To accomplish long-horizon tasks, agents need to decompose abstract instructions into detailed steps. Prior works mostly rely on GPT-4V for task decomposition into predefined actions, which limits task diversity due to GPT-4V's finite understanding of larger skillsets. Therefore, we present ReLEP, a groundbreaking framework for Real world Long-horizon Embodied Planning, which can accomplish a wide range of daily tasks. At its core lies a fine-tuned large vision language model that formulates plans as sequences of skill functions according to input instruction and scene image. These functions are selected from a carefully designed skill library. ReLEP is also equipped with a Memory module for plan and status recall, and a Robot Configuration module for versatility across robot types. In addition, we propose a semi-automatic data generation pipeline to tackle dataset scarcity. Real-world off-line experiments across eight daily embodied tasks demonstrate that ReLEP is able to accomplish long-horizon embodied tasks and outperforms other state-of-the-art baseline methods.

To make effective decisions in novel environments with long-horizon goals, it is crucial to engage in hierarchical reasoning across spatial and temporal scales. This entails planning abstract subgoal sequences, visually reasoning about the underlying plans, and executing actions in accordance with the devised plan through visual-motor control. We propose Compositional Foundation Models for Hierarchical Planning (HiP), a foundation model which leverages multiple expert foundation model trained on language, vision and action data individually jointly together to solve long-horizon tasks. We use a large language model to construct symbolic plans that are grounded in the environment through a large video diffusion model. Generated video plans are then grounded to visual-motor control, through an inverse dynamics model that infers actions from generated videos. To enable effective reasoning within this hierarchy, we enforce consistency between the models via iterative refinement. We illustrate the efficacy and adaptability of our approach in three different long-horizon table-top manipulation tasks.

Solving complex long-horizon robotic manipulation problems requires sophisticated high-level planning capabilities, the ability to reason about the physical world, and reactively choose appropriate motor skills. Vision-language models (VLMs) pretrained on Internet data could in principle offer a framework for tackling such problems. However, in their current form, VLMs lack both the nuanced understanding of intricate physics required for robotic manipulation and the ability to reason over long horizons to address error compounding issues. In this paper, we introduce a novel test-time computation framework that enhances VLMs' physical reasoning capabilities for multi-stage manipulation tasks. At its core, our approach iteratively improves a pretrained VLM with a "reflection" mechanism - it uses a generative model to imagine future world states, leverages these predictions to guide action selection, and critically reflects on potential suboptimalities to refine its reasoning. Experimental results demonstrate that our method significantly outperforms several state-of-the-art commercial VLMs as well as other post-training approaches such as Monte Carlo Tree Search (MCTS). Videos are available at https://reflect-vlm.github.io.

Planning long-horizon robot manipulation requires making discrete decisions about which objects to interact with and continuous decisions about how to interact with them. A robot planner must select grasps, placements, and motions that are feasible and safe. This class of problems falls under Task and Motion Planning (TAMP) and poses significant computational challenges in terms of algorithm runtime and solution quality, particularly when the solution space is highly constrained. To address these challenges, we propose a new bilevel TAMP algorithm that leverages GPU parallelism to efficiently explore thousands of candidate continuous solutions simultaneously. Our approach uses GPU parallelism to sample an initial batch of solution seeds for a plan skeleton and to apply differentiable optimization on this batch to satisfy plan constraints and minimize solution cost with respect to soft objectives. We demonstrate that our algorithm can effectively solve highly constrained problems with non-convex constraints in just seconds, substantially outperforming serial TAMP approaches, and validate our approach on multiple real-world robots. Project website and code: https://cutamp.github.io

Long-horizon robotic manipulation poses significant challenges for autonomous systems, requiring extended reasoning, precise execution, and robust error recovery across complex sequential tasks. Current approaches, whether based on static planning or end-to-end visuomotor policies, suffer from error accumulation and lack effective verification mechanisms during execution, limiting their reliability in real-world scenarios. We present Agentic Robot, a brain-inspired framework that addresses these limitations through Standardized Action Procedures (SAP)--a novel coordination protocol governing component interactions throughout manipulation tasks. Drawing inspiration from Standardized Operating Procedures (SOPs) in human organizations, SAP establishes structured workflows for planning, execution, and verification phases. Our architecture comprises three specialized components: (1) a large reasoning model that decomposes high-level instructions into semantically coherent subgoals, (2) a vision-language-action executor that generates continuous control commands from real-time visual inputs, and (3) a temporal verifier that enables autonomous progression and error recovery through introspective assessment. This SAP-driven closed-loop design supports dynamic self-verification without external supervision. On the LIBERO benchmark, Agentic Robot achieves state-of-the-art performance with an average success rate of 79.6\%, outperforming SpatialVLA by 6.1\% and OpenVLA by 7.4\% on long-horizon tasks. These results demonstrate that SAP-driven coordination between specialized components enhances both performance and interpretability in sequential manipulation, suggesting significant potential for reliable autonomous systems. Project Github: https://agentic-robot.github.io.

Long-horizon robotic manipulation requires bridging the gap between high-level planning (System 2) and low-level control (System 1). Current Vision-Language-Action (VLA) models often entangle these processes, performing redundant multimodal reasoning at every timestep, which leads to high latency and goal instability. To address this, we present StreamVLA, a dual-system architecture that unifies textual task decomposition, visual goal imagination, and continuous action generation within a single parameter-efficient backbone. We introduce a "Lock-and-Gated" mechanism to intelligently modulate computation: only when a sub-task transition is detected, the model triggers slow thinking to generate a textual instruction and imagines the specific visual completion state, rather than generic future frames. Crucially, this completion state serves as a time-invariant goal anchor, making the policy robust to execution speed variations. During steady execution, these high-level intents are locked to condition a Flow Matching action head, allowing the model to bypass expensive autoregressive decoding for 72% of timesteps. This hierarchical abstraction ensures sub-goal focus while significantly reducing inference latency. Extensive evaluations demonstrate that StreamVLA achieves state-of-the-art performance, with a 98.5% success rate on the LIBERO benchmark and robust recovery in real-world interference scenarios, achieving a 48% reduction in latency compared to full-reasoning baselines.

Generalizing to long-horizon manipulation tasks in a zero-shot setting remains a central challenge in robotics. Current multimodal foundation based approaches, despite their capabilities, typically fail to decompose high-level commands into executable action sequences from static visual input alone. To address this challenge, we introduce Super-Mimic, a hierarchical framework that enables zero-shot robotic imitation by directly inferring procedural intent from unscripted human demonstration videos. Our framework is composed of two sequential modules. First, a Human Intent Translator (HIT) parses the input video using multimodal reasoning to produce a sequence of language-grounded subtasks. These subtasks then condition a Future Dynamics Predictor (FDP), which employs a generative model that synthesizes a physically plausible video rollout for each step. The resulting visual trajectories are dynamics-aware, explicitly modeling crucial object interactions and contact points to guide the low-level controller. We validate this approach through extensive experiments on a suite of long-horizon manipulation tasks, where Super-Mimic significantly outperforms state-of-the-art zero-shot methods by over 20%. These results establish that coupling video-driven intent parsing with prospective dynamics modeling is a highly effective strategy for developing general-purpose robotic systems.

Recent advances in vision-language models (VLMs) have enabled instruction-conditioned robotic systems with improved generalization. However, most existing work focuses on reactive System 1 policies, underutilizing VLMs' strengths in semantic reasoning and long-horizon planning. These System 2 capabilities-characterized by deliberative, goal-directed thinking-remain under explored due to the limited temporal scale and structural complexity of current benchmarks. To address this gap, we introduce RoboCerebra, a benchmark for evaluating high-level reasoning in long-horizon robotic manipulation. RoboCerebra includes: (1) a large-scale simulation dataset with extended task horizons and diverse subtask sequences in household environments; (2) a hierarchical framework combining a high-level VLM planner with a low-level vision-language-action (VLA) controller; and (3) an evaluation protocol targeting planning, reflection, and memory through structured System 1-System 2 interaction. The dataset is constructed via a top-down pipeline, where GPT generates task instructions and decomposes them into subtask sequences. Human operators execute the subtasks in simulation, yielding high-quality trajectories with dynamic object variations. Compared to prior benchmarks, RoboCerebra features significantly longer action sequences and denser annotations. We further benchmark state-of-the-art VLMs as System 2 modules and analyze their performance across key cognitive dimensions, advancing the development of more capable and generalizable robotic planners.

Recent advancements in vision-language-action (VLA) models have shown promise in robotic manipulation, yet they continue to struggle with long-horizon, multi-step tasks. Existing methods lack internal reasoning mechanisms that can identify task-relevant interaction cues or track progress within a subtask, leading to critical execution errors such as repeated actions, missed steps, and premature termination. To address these challenges, we introduce PALM, a VLA framework that structures policy learning around interaction-centric affordance reasoning and subtask progress cues. PALM distills complementary affordance representations that capture object relevance, contact geometry, spatial placements, and motion dynamics, and serve as task-relevant anchors for visuomotor control. To further stabilize long-horizon execution, PALM predicts continuous within-subtask progress, enabling seamless subtask transitions. Across extensive simulation and real-world experiments, PALM consistently outperforms baselines, achieving a 91.8% success rate on LIBERO-LONG, a 12.5% improvement in average length on CALVIN ABC->D, and a 2x improvement over real-world baselines across three long-horizon generalization settings.

Real-world embodied agents face long-horizon tasks, characterized by high-level goals demanding multi-step solutions beyond single actions. Successfully navigating these requires both high-level task planning (i.e., decomposing goals into sub-tasks) and low-level motion control (i.e., generating precise robot actions). While existing vision language action (VLA) models and hierarchical architectures offer potential in embodied tasks, the former often falter in planning, and the latter can suffer from coordination issues, both hampering performance. We introduce a new unified VLA framework for long-horizon tasks, dubbed LoHoVLA, to overcome these limitations. LoHoVLA leverages a large pretrained vision language model (VLM) as the backbone to jointly generate language and action tokens for sub-task generation and robot action prediction, respectively. This shared representation promotes better generalization across tasks. Additionally, LoHoVLA embraces a hierarchical closed-loop control mechanism to mitigate errors originating from both high-level planning and low-level control. To train LoHoVLA, we introduce LoHoSet, a dataset built on the Ravens simulator, containing 20 long-horizon tasks, each with 1,000 expert demonstrations composed of visual observations, linguistic goals, sub-tasks, and robot actions. Experimental results show that LoHoVLA significantly surpasses both hierarchical and standard VLA approaches on long-horizon embodied tasks in the Ravens simulator. These findings underscore the promise of unified architectures for advancing generalizable embodied intelligence.

Autonomous agents have recently achieved remarkable progress across diverse domains, yet most evaluations focus on short-horizon, fully observable tasks. In contrast, many critical real-world tasks, such as large-scale software development, commercial investment, and scientific discovery, unfold in long-horizon and partially observable scenarios where success hinges on sustained reasoning, planning, memory management, and tool use. Existing benchmarks rarely capture these long-horizon challenges, leaving a gap in systematic evaluation. To bridge this gap, we introduce UltraHorizon a novel benchmark that measures the foundational capabilities essential for complex real-world challenges. We use exploration as a unifying task across three distinct environments to validate these core competencies. Agents are designed in long-horizon discovery tasks where they must iteratively uncover hidden rules through sustained reasoning, planning, memory and tools management, and interaction with environments. Under the heaviest scale setting, trajectories average 200k+ tokens and 400+ tool calls, whereas in standard configurations they still exceed 35k tokens and involve more than 60 tool calls on average. Our extensive experiments reveal that LLM-agents consistently underperform in these settings, whereas human participants achieve higher scores, underscoring a persistent gap in agents' long-horizon abilities. We also observe that simple scaling fails in our task. To better illustrate the failure of agents, we conduct an in-depth analysis of collected trajectories. We identify eight types of errors and attribute them to two primary causes: in-context locking and functional fundamental capability gaps. https://github.com/StarDewXXX/UltraHorizon{Our code will be available here.}

Reinforcement Learning (RL) has shown great potential in refining robotic manipulation policies, yet its efficacy remains strongly bottlenecked by the difficulty of designing generalizable reward functions. In this paper, we propose a framework for online policy refinement by adapting foundation VLMs into online reward generators. We develop a robust, scalable reward model based on a state-of-the-art VLM, trained on a large-scale, multi-source dataset encompassing real-world robot trajectories, human-object interactions, and diverse simulated environments. Unlike prior approaches that evaluate entire trajectories post-hoc, our method leverages the VLM to formulate a multifaceted reward signal comprising process, completion, and temporal contrastive rewards based on current visual observations. Initializing with a base policy trained via Imitation Learning (IL), we employ these VLM rewards to guide the model to correct sub-optimal behaviors in a closed-loop manner. We evaluate our framework on challenging long-horizon manipulation benchmarks requiring sequential execution and precise control. Crucially, our reward model operates in a purely zero-shot manner within these test environments. Experimental results demonstrate that our method significantly improves the success rate of the initial IL policy within just 30 RL iterations, demonstrating remarkable sample efficiency. This empirical evidence highlights that VLM-generated signals can provide reliable feedback to resolve execution errors, effectively eliminating the need for manual reward engineering and facilitating efficient online refinement for robot learning.

Large Language Models (LLMs) have demonstrated remarkable planning abilities across various domains, including robotics manipulation and navigation. While recent efforts in robotics have leveraged LLMs both for high-level and low-level planning, these approaches often face significant challenges, such as hallucinations in long-horizon tasks and limited adaptability due to the generation of plans in a single pass without real-time feedback. To address these limitations, we propose a novel multi-agent LLM framework, Multi-Agent Large Language Model for Manipulation (MALMM) that distributes high-level planning and low-level control code generation across specialized LLM agents, supervised by an additional agent that dynamically manages transitions. By incorporating observations from the environment after each step, our framework effectively handles intermediate failures and enables adaptive re-planning. Unlike existing methods, our approach does not rely on pre-trained skill policies or in-context learning examples and generalizes to a variety of new tasks. We evaluate our approach on nine RLBench tasks, including long-horizon tasks, and demonstrate its ability to solve robotics manipulation in a zero-shot setting, thereby overcoming key limitations of existing LLM-based manipulation methods.

Reinforcement learning in massively parallel physics simulations has driven major progress in sim-to-real robot learning. However, current approaches remain brittle and task-specific, relying on extensive per-task engineering to design rewards, curricula, and demonstrations. Even with this engineering, they often fail on long-horizon, contact-rich manipulation tasks and do not meaningfully scale with compute, as performance quickly saturates when training revisits the same narrow regions of state space. We introduce OmniReset, a simple and scalable framework that enables on-policy reinforcement learning to robustly solve a broad class of dexterous manipulation tasks using a single reward function, fixed algorithm hyperparameters, no curricula, and no human demonstrations. Our key insight is that long-horizon exploration can be dramatically simplified by using simulator resets to systematically expose the RL algorithm to the diverse set of robot-object interactions which underlie dexterous manipulation. OmniReset programmatically generates such resets with minimal human input, converting additional compute directly into broader behavioral coverage and continued performance gains. We show that OmniReset gracefully scales to long-horizon dexterous manipulation tasks beyond the capabilities of existing approaches and is able to learn robust policies over significantly wider ranges of initial conditions than baselines. Finally, we distill OmniReset into visuomotor policies which display robust retrying behavior and substantially higher success rates than baselines when transferred to the real world zero-shot. Project webpage: https://omnireset.github.io

To fully leverage the capabilities of mobile manipulation robots, it is imperative that they are able to autonomously execute long-horizon tasks in large unexplored environments. While large language models (LLMs) have shown emergent reasoning skills on arbitrary tasks, existing work primarily concentrates on explored environments, typically focusing on either navigation or manipulation tasks in isolation. In this work, we propose MoMa-LLM, a novel approach that grounds language models within structured representations derived from open-vocabulary scene graphs, dynamically updated as the environment is explored. We tightly interleave these representations with an object-centric action space. The resulting approach is zero-shot, open-vocabulary, and readily extendable to a spectrum of mobile manipulation and household robotic tasks. We demonstrate the effectiveness of MoMa-LLM in a novel semantic interactive search task in large realistic indoor environments. In extensive experiments in both simulation and the real world, we show substantially improved search efficiency compared to conventional baselines and state-of-the-art approaches, as well as its applicability to more abstract tasks. We make the code publicly available at http://moma-llm.cs.uni-freiburg.de.

In complex embodied long-horizon manipulation tasks, effective task decomposition and execution require synergistic integration of textual logical reasoning and visual-spatial imagination to ensure efficient and accurate operation. Current methods fail to adopt a unified generation framework for multimodal planning, lead to inconsistent in multimodal planning. To address this challenge, we present EVLP (Embodied Vision-Language Planner), an innovative multimodal unified generation framework that jointly models linguistic reasoning and visual generation. Our approach achieves multimodal planning for long-horizon tasks through a novel training pipeline incorporating dynamic pretraining and reinforced alignment. Our core innovations consist of three key components: 1) Unified Multimodal Generation Framework: For understanding, We integrate semantic information with spatial features to provide comprehensive visual perception. For generation, we directly learn the joint distribution of discrete images for one-step visual synthesis, enabling coordinated language-visual modeling through learnable cross-modal attention mechanisms. 2) Dynamic Perception Pretraining: We propose a bidirectional dynamic alignment strategy employing inverse dynamics tasks and forward dynamics tasks, effectively strengthening multimodal correlations within a unified feature space. 3) Reinforced Supervised Fine-Tuning: While conducting instruction-based fine-tuning in the unified generation space, we construct a reinforce loss to align the spatial logic between textual actions and generated images, enabling the model to acquire spatio-awared multimodal planning capabilities.

Model predictive control (MPC) with learned world models has emerged as a promising paradigm for embodied control, particularly for its ability to generalize zero-shot when deployed in new environments. However, learned world models often struggle with long-horizon control due to the accumulation of prediction errors and the exponentially growing search space. In this work, we address these challenges by learning latent world models at multiple temporal scales and performing hierarchical planning across these scales, enabling long-horizon reasoning while substantially reducing inference-time planning complexity. Our approach serves as a modular planning abstraction that applies across diverse latent world-model architectures and domains. We demonstrate that this hierarchical approach enables zero-shot control on real-world non-greedy robotic tasks, achieving a 70% success rate on pick-&-place using only a final goal specification, compared to 0% for a single-level world model. In addition, across physics-based simulated environments including push manipulation and maze navigation, hierarchical planning achieves higher success while requiring up to 4x less planning-time compute.

We study the problem of functional retargeting: learning dexterous manipulation policies to track object states from human hand-object demonstrations. We focus on long-horizon, bimanual tasks with articulated objects, which is challenging due to large action space, spatiotemporal discontinuities, and embodiment gap between human and robot hands. We propose DexMachina, a novel curriculum-based algorithm: the key idea is to use virtual object controllers with decaying strength: an object is first driven automatically towards its target states, such that the policy can gradually learn to take over under motion and contact guidance. We release a simulation benchmark with a diverse set of tasks and dexterous hands, and show that DexMachina significantly outperforms baseline methods. Our algorithm and benchmark enable a functional comparison for hardware designs, and we present key findings informed by quantitative and qualitative results. With the recent surge in dexterous hand development, we hope this work will provide a useful platform for identifying desirable hardware capabilities and lower the barrier for contributing to future research. Videos and more at https://project-dexmachina.github.io/

We propose Text2Motion, a language-based planning framework enabling robots to solve sequential manipulation tasks that require long-horizon reasoning. Given a natural language instruction, our framework constructs both a task- and motion-level plan that is verified to reach inferred symbolic goals. Text2Motion uses feasibility heuristics encoded in Q-functions of a library of skills to guide task planning with Large Language Models. Whereas previous language-based planners only consider the feasibility of individual skills, Text2Motion actively resolves geometric dependencies spanning skill sequences by performing geometric feasibility planning during its search. We evaluate our method on a suite of problems that require long-horizon reasoning, interpretation of abstract goals, and handling of partial affordance perception. Our experiments show that Text2Motion can solve these challenging problems with a success rate of 82%, while prior state-of-the-art language-based planning methods only achieve 13%. Text2Motion thus provides promising generalization characteristics to semantically diverse sequential manipulation tasks with geometric dependencies between skills.

Generalizable manipulation skills, which can be composed to tackle long-horizon and complex daily chores, are one of the cornerstones of Embodied AI. However, existing benchmarks, mostly composed of a suite of simulatable environments, are insufficient to push cutting-edge research works because they lack object-level topological and geometric variations, are not based on fully dynamic simulation, or are short of native support for multiple types of manipulation tasks. To this end, we present ManiSkill2, the next generation of the SAPIEN ManiSkill benchmark, to address critical pain points often encountered by researchers when using benchmarks for generalizable manipulation skills. ManiSkill2 includes 20 manipulation task families with 2000+ object models and 4M+ demonstration frames, which cover stationary/mobile-base, single/dual-arm, and rigid/soft-body manipulation tasks with 2D/3D-input data simulated by fully dynamic engines. It defines a unified interface and evaluation protocol to support a wide range of algorithms (e.g., classic sense-plan-act, RL, IL), visual observations (point cloud, RGBD), and controllers (e.g., action type and parameterization). Moreover, it empowers fast visual input learning algorithms so that a CNN-based policy can collect samples at about 2000 FPS with 1 GPU and 16 processes on a regular workstation. It implements a render server infrastructure to allow sharing rendering resources across all environments, thereby significantly reducing memory usage. We open-source all codes of our benchmark (simulator, environments, and baselines) and host an online challenge open to interdisciplinary researchers.

Vision-language-action (VLA) models have enabled language-conditioned, long-horizon robot manipulation, but most existing systems are limited to grippers. Scaling VLA policies to bimanual robots with high degree-of-freedom (DoF) dexterous hands remains challenging due to the expanded action space, frequent hand-object occlusions, and the cost of collecting real-robot data. We present GR-Dexter, a holistic hardware-model-data framework for VLA-based generalist manipulation on a bimanual dexterous-hand robot. Our approach combines the design of a compact 21-DoF robotic hand, an intuitive bimanual teleoperation system for real-robot data collection, and a training recipe that leverages teleoperated robot trajectories together with large-scale vision-language and carefully curated cross-embodiment datasets. Across real-world evaluations spanning long-horizon everyday manipulation and generalizable pick-and-place, GR-Dexter achieves strong in-domain performance and improved robustness to unseen objects and unseen instructions. We hope GR-Dexter serves as a practical step toward generalist dexterous-hand robotic manipulation.

Current robotic planning methods often rely on predicting multi-frame images with full pixel details. While this fine-grained approach can serve as a generic world model, it introduces two significant challenges for downstream policy learning: substantial computational costs that hinder real-time deployment, and accumulated inaccuracies that can mislead action extraction. Planning with coarse-grained subgoals partially alleviates efficiency issues. However, their forward planning schemes can still result in off-task predictions due to accumulation errors, leading to misalignment with long-term goals. This raises a critical question: Can robotic planning be both efficient and accurate enough for real-time control in long-horizon, multi-stage tasks? To address this, we propose a Latent Space Backward Planning scheme (LBP), which begins by grounding the task into final latent goals, followed by recursively predicting intermediate subgoals closer to the current state. The grounded final goal enables backward subgoal planning to always remain aware of task completion, facilitating on-task prediction along the entire planning horizon. The subgoal-conditioned policy incorporates a learnable token to summarize the subgoal sequences and determines how each subgoal guides action extraction. Through extensive simulation and real-robot long-horizon experiments, we show that LBP outperforms existing fine-grained and forward planning methods, achieving SOTA performance. Project Page: https://lbp-authors.github.io

Real-world multimodal agents solve multi-step workflows grounded in visual evidence. For example, an agent can troubleshoot a device by linking a wiring photo to a schematic and validating the fix with online documentation, or plan a trip by interpreting a transit map and checking schedules under routing constraints. However, existing multimodal benchmarks mainly evaluate single-turn visual reasoning or specific tool skills, and they do not fully capture the realism, visual subtlety, and long-horizon tool use that practical agents require. We introduce AgentVista, a benchmark for generalist multimodal agents that spans 25 sub-domains across 7 categories, pairing realistic and detail-rich visual scenarios with natural hybrid tool use. Tasks require long-horizon tool interactions across modalities, including web search, image search, page navigation, and code-based operations for both image processing and general programming. Comprehensive evaluation of state-of-the-art models exposes significant gaps in their ability to carry out long-horizon multimodal tool use. Even the best model in our evaluation, Gemini-3-Pro with tools, achieves only 27.3% overall accuracy, and hard instances can require more than 25 tool-calling turns. We expect AgentVista to accelerate the development of more capable and reliable multimodal agents for realistic and ultra-challenging problem solving.

Imitation learning (IL) algorithms have shown promising results for robots to learn skills from expert demonstrations. However, they need multi-task demonstrations to be provided at once for acquiring diverse skills, which is difficult in real world. In this work we study how to realize continual imitation learning ability that empowers robots to continually learn new tasks one by one, thus reducing the burden of multi-task IL and accelerating the process of new task learning at the same time. We propose a novel trajectory generation model that employs both a generative adversarial network and a dynamics-aware prediction model to generate pseudo trajectories from all learned tasks in the new task learning process. Our experiments on both simulation and real-world manipulation tasks demonstrate the effectiveness of our method.

Humans can perform complex tasks with long-term objectives by planning, reasoning, and forecasting outcomes of actions. For embodied agents to achieve similar capabilities, they must gain knowledge of the environment transferable to novel scenarios with a limited budget of additional trial and error. Learning-based approaches, such as deep RL, can discover and take advantage of inherent regularities and characteristics of the application domain from data, and continuously improve their performances, however at a cost of large amounts of training data. This thesis explores the development of data-driven techniques for spatial reasoning and planning tasks, focusing on enhancing learning efficiency, interpretability, and transferability across novel scenarios. Four key contributions are made. 1) CALVIN, a differential planner that learns interpretable models of the world for long-term planning. It successfully navigated partially observable 3D environments, such as mazes and indoor rooms, by learning the rewards and state transitions from expert demonstrations. 2) SOAP, an RL algorithm that discovers options unsupervised for long-horizon tasks. Options segment a task into subtasks and enable consistent execution of the subtask. SOAP showed robust performances on history-conditional corridor tasks as well as classical benchmarks such as Atari. 3) LangProp, a code optimisation framework using LLMs to solve embodied agent problems that require reasoning by treating code as learnable policies. The framework successfully generated interpretable code with comparable or superior performance to human-written experts in the CARLA autonomous driving benchmark. 4) Voggite, an embodied agent with a vision-to-action transformer backend that solves complex tasks in Minecraft. It achieved third place in the MineRL BASALT Competition by identifying action triggers to segment tasks into multiple stages.

Building autonomous robotic agents capable of achieving human-level performance in real-world embodied tasks is an ultimate goal in humanoid robot research. Recent advances have made significant progress in high-level cognition with Foundation Models (FMs) and low-level skill development for humanoid robots. However, directly combining these components often results in poor robustness and efficiency due to compounding errors in long-horizon tasks and the varied latency of different modules. We introduce Being-0, a hierarchical agent framework that integrates an FM with a modular skill library. The FM handles high-level cognitive tasks such as instruction understanding, task planning, and reasoning, while the skill library provides stable locomotion and dexterous manipulation for low-level control. To bridge the gap between these levels, we propose a novel Connector module, powered by a lightweight vision-language model (VLM). The Connector enhances the FM's embodied capabilities by translating language-based plans into actionable skill commands and dynamically coordinating locomotion and manipulation to improve task success. With all components, except the FM, deployable on low-cost onboard computation devices, Being-0 achieves efficient, real-time performance on a full-sized humanoid robot equipped with dexterous hands and active vision. Extensive experiments in large indoor environments demonstrate Being-0's effectiveness in solving complex, long-horizon tasks that require challenging navigation and manipulation subtasks. For further details and videos, visit https://beingbeyond.github.io/being-0.

Large language models (LLMs) are shown to possess a wealth of actionable knowledge that can be extracted for robot manipulation in the form of reasoning and planning. Despite the progress, most still rely on pre-defined motion primitives to carry out the physical interactions with the environment, which remains a major bottleneck. In this work, we aim to synthesize robot trajectories, i.e., a dense sequence of 6-DoF end-effector waypoints, for a large variety of manipulation tasks given an open-set of instructions and an open-set of objects. We achieve this by first observing that LLMs excel at inferring affordances and constraints given a free-form language instruction. More importantly, by leveraging their code-writing capabilities, they can interact with a visual-language model (VLM) to compose 3D value maps to ground the knowledge into the observation space of the agent. The composed value maps are then used in a model-based planning framework to zero-shot synthesize closed-loop robot trajectories with robustness to dynamic perturbations. We further demonstrate how the proposed framework can benefit from online experiences by efficiently learning a dynamics model for scenes that involve contact-rich interactions. We present a large-scale study of the proposed method in both simulated and real-robot environments, showcasing the ability to perform a large variety of everyday manipulation tasks specified in free-form natural language. Project website: https://voxposer.github.io

To achieve successful assistance with long-horizon web-based tasks, AI agents must be able to sequentially follow real-world user instructions over a long period. Unlike existing web-based agent benchmarks, sequential instruction following in the real world poses significant challenges beyond performing a single, clearly defined task. For instance, real-world human instructions can be ambiguous, require different levels of AI assistance, and may evolve over time, reflecting changes in the user's mental state. To address this gap, we introduce RealWebAssist, a novel benchmark designed to evaluate sequential instruction-following in realistic scenarios involving long-horizon interactions with the web, visual GUI grounding, and understanding ambiguous real-world user instructions. RealWebAssist includes a dataset of sequential instructions collected from real-world human users. Each user instructs a web-based assistant to perform a series of tasks on multiple websites. A successful agent must reason about the true intent behind each instruction, keep track of the mental state of the user, understand user-specific routines, and ground the intended tasks to actions on the correct GUI elements. Our experimental results show that state-of-the-art models struggle to understand and ground user instructions, posing critical challenges in following real-world user instructions for long-horizon web assistance.

Embodied intelligence has witnessed remarkable progress in recent years, driven by advances in computer vision, natural language processing, and the rise of large-scale multimodal models. Among its core challenges, robot manipulation stands out as a fundamental yet intricate problem, requiring the seamless integration of perception, planning, and control to enable interaction within diverse and unstructured environments. This survey presents a comprehensive overview of robotic manipulation, encompassing foundational background, task-organized benchmarks and datasets, and a unified taxonomy of existing methods. We extend the classical division between high-level planning and low-level control by broadening high-level planning to include language, code, motion, affordance, and 3D representations, while introducing a new taxonomy of low-level learning-based control grounded in training paradigms such as input modeling, latent learning, and policy learning. Furthermore, we provide the first dedicated taxonomy of key bottlenecks, focusing on data collection, utilization, and generalization, and conclude with an extensive review of real-world applications. Compared with prior surveys, our work offers both a broader scope and deeper insight, serving as an accessible roadmap for newcomers and a structured reference for experienced researchers. All related resources, including research papers, open-source datasets, and projects, are curated for the community at https://github.com/BaiShuanghao/Awesome-Robotics-Manipulation.

We propose a novel parameterized skill-learning algorithm that aims to learn transferable parameterized skills and synthesize them into a new action space that supports efficient learning in long-horizon tasks. We propose to leverage off-policy Meta-RL combined with a trajectory-centric smoothness term to learn a set of parameterized skills. Our agent can use these learned skills to construct a three-level hierarchical framework that models a Temporally-extended Parameterized Action Markov Decision Process. We empirically demonstrate that the proposed algorithms enable an agent to solve a set of difficult long-horizon (obstacle-course and robot manipulation) tasks.

We present a framework for robot skill acquisition, which 1) efficiently scale up data generation of language-labelled robot data and 2) effectively distills this data down into a robust multi-task language-conditioned visuo-motor policy. For (1), we use a large language model (LLM) to guide high-level planning, and sampling-based robot planners (e.g. motion or grasp samplers) for generating diverse and rich manipulation trajectories. To robustify this data-collection process, the LLM also infers a code-snippet for the success condition of each task, simultaneously enabling the data-collection process to detect failure and retry as well as the automatic labeling of trajectories with success/failure. For (2), we extend the diffusion policy single-task behavior-cloning approach to multi-task settings with language conditioning. Finally, we propose a new multi-task benchmark with 18 tasks across five domains to test long-horizon behavior, common-sense reasoning, tool-use, and intuitive physics. We find that our distilled policy successfully learned the robust retrying behavior in its data collection policy, while improving absolute success rates by 34.8% on average across five domains. The benchmark, code, and qualitative results are on our website https://www.cs.columbia.edu/~huy/scalingup/

Pretrained video generation models provide strong priors for robot control, but existing unified world action models still struggle to decode reliable actions without substantial robot-specific training. We attribute this limitation to a structural mismatch: while video models capture how scenes evolve, action generation requires explicit reasoning about where to interact and the underlying manipulation intent. We introduce AIM, an intent-aware unified world action model that bridges this gap via an explicit spatial interface. Instead of decoding actions directly from future visual representations, AIM predicts an aligned spatial value map that encodes task-relevant interaction structure, enabling a control-oriented abstraction of future dynamics. Built on a pretrained video generation model, AIM jointly models future observations and value maps within a shared mixture-of-transformers architecture. It employs intent-causal attention to route future information to the action branch exclusively through the value representation. We further propose a self-distillation reinforcement learning stage that freezes the video and value branches and optimizes only the action head using dense rewards derived from projected value-map responses together with sparse task-level signals. To support training and evaluation, we construct a simulation dataset of 30K manipulation trajectories with synchronized multi-view observations, actions, and value-map annotations. Experiments on RoboTwin 2.0 benchmark show that AIM achieves a 94.0% average success rate, significantly outperforming prior unified world action baselines. Notably, the improvement is more pronounced in long-horizon and contact-sensitive manipulation tasks, demonstrating the effectiveness of explicit spatial-intent modeling as a bridge between visual world modeling and robot control.

Humans possess a large reachable space in the 3D world, enabling interaction with objects at varying heights and distances. However, realizing such large-space reaching on humanoids is a complex whole-body control problem and requires the robot to master diverse skills simultaneously-including base positioning and reorientation, height and body posture adjustments, and end-effector pose control. Learning from scratch often leads to optimization difficulty and poor sim2real transferability. To address this challenge, we propose Real-world-Ready Skill Space (R2S2). Our approach begins with a carefully designed skill library consisting of real-world-ready primitive skills. We ensure optimal performance and robust sim2real transfer through individual skill tuning and sim2real evaluation. These skills are then ensembled into a unified latent space, serving as a structured prior that helps task execution in an efficient and sim2real transferable manner. A high-level planner, trained to sample skills from this space, enables the robot to accomplish real-world goal-reaching tasks. We demonstrate zero-shot sim2real transfer and validate R2S2 in multiple challenging goal-reaching scenarios.

Advancements in large language models (LLMs) have demonstrated their potential in facilitating high-level reasoning, logical reasoning and robotics planning. Recently, LLMs have also been able to generate reward functions for low-level robot actions, effectively bridging the interface between high-level planning and low-level robot control. However, the challenge remains that even with syntactically correct plans, robots can still fail to achieve their intended goals. This failure can be attributed to imperfect plans proposed by LLMs or to unforeseeable environmental circumstances that hinder the execution of planned subtasks due to erroneous assumptions about the state of objects. One way to prevent these challenges is to rely on human-provided step-by-step instructions, limiting the autonomy of robotic systems. Vision Language Models (VLMs) have shown remarkable success in tasks such as visual question answering and image captioning. Leveraging the capabilities of VLMs, we present a novel framework called Robotic Replanning with Perception and Language Models (RePLan) that enables real-time replanning capabilities for long-horizon tasks. This framework utilizes the physical grounding provided by a VLM's understanding of the world's state to adapt robot actions when the initial plan fails to achieve the desired goal. We test our approach within four environments containing seven long-horizion tasks. We find that RePLan enables a robot to successfully adapt to unforeseen obstacles while accomplishing open-ended, long-horizon goals, where baseline models cannot. Find more information at https://replan-lm.github.io/replan.github.io/

Robotic manipulation is often challenging due to the long-horizon tasks and the complex object relationships. A common solution is to develop a task and motion planning framework that integrates planning for high-level task and low-level motion. Recently, inspired by the powerful reasoning ability of Large Language Models (LLMs), LLM-based planning approaches have achieved remarkable progress. However, these methods still heavily rely on expert-specific knowledge, often generating invalid plans for unseen and unfamiliar tasks. To address this issue, we propose an innovative language-guided symbolic task planning (LM-SymOpt) framework with optimization. It is the first expert-free planning framework since we combine the world knowledge from LLMs with formal reasoning, resulting in improved generalization capability to new tasks. Specifically, differ to most existing work, our LM-SymOpt employs LLMs to translate natural language instructions into symbolic representations, thereby representing actions as high-level symbols and reducing the search space for planning. Next, after evaluating the action probability of completing the task using LLMs, a weighted random sampling method is introduced to generate candidate plans. Their feasibility is assessed through symbolic reasoning and their cost efficiency is then evaluated using trajectory optimization for selecting the optimal planning. Our experimental results show that LM-SymOpt outperforms existing LLM-based planning approaches.

The incorporation of world modeling into manipulation policy learning has pushed the boundary of manipulation performance. However, existing efforts simply model the 2D visual dynamics, which is insufficient for robust manipulation when target tasks involve prominent depth-wise movement. To address this, we present a 3D dynamics-aware manipulation framework that seamlessly integrates 3D world modeling and policy learning. Three self-supervised learning tasks (current depth estimation, future RGB-D prediction, 3D flow prediction) are introduced within our framework, which complement each other and endow the policy model with 3D foresight. Extensive experiments on simulation and the real world show that 3D foresight can greatly boost the performance of manipulation policies without sacrificing inference speed. Code is available at https://github.com/Stardust-hyx/3D-Foresight.

Large language models can encode a wealth of semantic knowledge about the world. Such knowledge could be extremely useful to robots aiming to act upon high-level, temporally extended instructions expressed in natural language. However, a significant weakness of language models is that they lack real-world experience, which makes it difficult to leverage them for decision making within a given embodiment. For example, asking a language model to describe how to clean a spill might result in a reasonable narrative, but it may not be applicable to a particular agent, such as a robot, that needs to perform this task in a particular environment. We propose to provide real-world grounding by means of pretrained skills, which are used to constrain the model to propose natural language actions that are both feasible and contextually appropriate. The robot can act as the language model's "hands and eyes," while the language model supplies high-level semantic knowledge about the task. We show how low-level skills can be combined with large language models so that the language model provides high-level knowledge about the procedures for performing complex and temporally-extended instructions, while value functions associated with these skills provide the grounding necessary to connect this knowledge to a particular physical environment. We evaluate our method on a number of real-world robotic tasks, where we show the need for real-world grounding and that this approach is capable of completing long-horizon, abstract, natural language instructions on a mobile manipulator. The project's website and the video can be found at https://say-can.github.io/.

Training long-horizon robotic policies in complex physical environments is essential for many applications, such as robotic manipulation. However, learning a policy that can generalize to unseen tasks is challenging. In this work, we propose to achieve one-shot task generalization by decoupling plan generation and plan execution. Specifically, our method solves complex long-horizon tasks in three steps: build a paired abstract environment by simplifying geometry and physics, generate abstract trajectories, and solve the original task by an abstract-to-executable trajectory translator. In the abstract environment, complex dynamics such as physical manipulation are removed, making abstract trajectories easier to generate. However, this introduces a large domain gap between abstract trajectories and the actual executed trajectories as abstract trajectories lack low-level details and are not aligned frame-to-frame with the executed trajectory. In a manner reminiscent of language translation, our approach leverages a seq-to-seq model to overcome the large domain gap between the abstract and executable trajectories, enabling the low-level policy to follow the abstract trajectory. Experimental results on various unseen long-horizon tasks with different robot embodiments demonstrate the practicability of our methods to achieve one-shot task generalization.

Deep reinforcement learning (RL) algorithms can learn complex robotic skills from raw sensory inputs, but have yet to achieve the kind of broad generalization and applicability demonstrated by deep learning methods in supervised domains. We present a deep RL method that is practical for real-world robotics tasks, such as robotic manipulation, and generalizes effectively to never-before-seen tasks and objects. In these settings, ground truth reward signals are typically unavailable, and we therefore propose a self-supervised model-based approach, where a predictive model learns to directly predict the future from raw sensory readings, such as camera images. At test time, we explore three distinct goal specification methods: designated pixels, where a user specifies desired object manipulation tasks by selecting particular pixels in an image and corresponding goal positions, goal images, where the desired goal state is specified with an image, and image classifiers, which define spaces of goal states. Our deep predictive models are trained using data collected autonomously and continuously by a robot interacting with hundreds of objects, without human supervision. We demonstrate that visual MPC can generalize to never-before-seen objects---both rigid and deformable---and solve a range of user-defined object manipulation tasks using the same model.

Embodied Planning is dedicated to the goal of creating agents capable of executing long-horizon tasks in complex physical worlds. However, existing embodied planning benchmarks frequently feature short-horizon tasks and coarse-grained action primitives. To address this challenge, we introduce CookBench, a benchmark for long-horizon planning in complex cooking scenarios. By leveraging a high-fidelity simulation environment built upon the powerful Unity game engine, we define frontier AI challenges in a complex, realistic environment. The core task in CookBench is designed as a two-stage process. First, in Intention Recognition, an agent needs to accurately parse a user's complex intent. Second, in Embodied Interaction, the agent should execute the identified cooking goal through a long-horizon, fine-grained sequence of physical actions. Unlike existing embodied planning benchmarks, we refine the action granularity to a spatial level that considers crucial operational information while abstracting away low-level robotic control. Besides, We provide a comprehensive toolset that encapsulates the simulator. Its unified API supports both macro-level operations, such as placing orders and purchasing ingredients, and a rich set of fine-grained embodied actions for physical interaction, enabling researchers to focus on high-level planning and decision-making. Furthermore, we present an in-depth analysis of state-of-the-art, closed-source Large Language Model and Vision-Language Model, revealing their major shortcomings and challenges posed by complex, long-horizon tasks. The full benchmark will be open-sourced to facilitate future research.

Long-horizon decision-making tasks present significant challenges for LLM-based agents due to the need for extensive planning over multiple steps. In this paper, we propose a hierarchical framework that decomposes complex tasks into manageable subgoals, utilizing separate LLMs for subgoal prediction and low-level action generation. To address the challenge of creating training signals for unannotated datasets, we develop a reward model that leverages multimodal environment feedback to automatically generate reward signals. We introduce Environment Preference Optimization (EPO), a novel method that generates preference signals from the environment's feedback and uses them to train LLM-based agents. Extensive experiments on ALFRED demonstrate the state-of-the-art performance of our framework, achieving first place on the ALFRED public leaderboard and showcasing its potential to improve long-horizon decision-making in diverse environments.

Embodied imitation learning is constrained by the scarcity of diverse, long-horizon robotic manipulation data. Existing video generation models for this domain are limited to synthesizing short clips of simple actions and often rely on manually defined trajectories. To this end, we introduce MIND-V, a hierarchical framework designed to synthesize physically plausible and logically coherent videos of long-horizon robotic manipulation. Inspired by cognitive science, MIND-V bridges high-level reasoning with pixel-level synthesis through three core components: a Semantic Reasoning Hub (SRH) that leverages a pre-trained vision-language model for task planning; a Behavioral Semantic Bridge (BSB) that translates abstract instructions into domain-invariant representations; and a Motor Video Generator (MVG) for conditional video rendering. MIND-V employs Staged Visual Future Rollouts, a test-time optimization strategy to enhance long-horizon robustness. To align the generated videos with physical laws, we introduce a GRPO reinforcement learning post-training phase guided by a novel Physical Foresight Coherence (PFC) reward. PFC leverages the V-JEPA world model to enforce physical plausibility by aligning the predicted and actual dynamic evolutions in the feature space. MIND-V demonstrates state-of-the-art performance in long-horizon robotic manipulation video generation, establishing a scalable and controllable paradigm for embodied data synthesis.

Robot manipulation relies on accurately predicting contact points and end-effector directions to ensure successful operation. However, learning-based robot manipulation, trained on a limited category within a simulator, often struggles to achieve generalizability, especially when confronted with extensive categories. Therefore, we introduce an innovative approach for robot manipulation that leverages the robust reasoning capabilities of Multimodal Large Language Models (MLLMs) to enhance the stability and generalization of manipulation. By fine-tuning the injected adapters, we preserve the inherent common sense and reasoning ability of the MLLMs while equipping them with the ability for manipulation. The fundamental insight lies in the introduced fine-tuning paradigm, encompassing object category understanding, affordance prior reasoning, and object-centric pose prediction to stimulate the reasoning ability of MLLM in manipulation. During inference, our approach utilizes an RGB image and text prompt to predict the end effector's pose in chain of thoughts. After the initial contact is established, an active impedance adaptation policy is introduced to plan the upcoming waypoints in a closed-loop manner. Moreover, in real world, we design a test-time adaptation (TTA) strategy for manipulation to enable the model better adapt to the current real-world scene configuration. Experiments in simulator and real-world show the promising performance of ManipLLM. More details and demonstrations can be found at https://sites.google.com/view/manipllm.

With generative AI advances, the exciting potential for autonomous agents to manage daily tasks via natural language commands has emerged. However, cur rent agents are primarily created and tested in simplified synthetic environments, substantially limiting real-world scenario representation. In this paper, we build an environment for agent command and control that is highly realistic and reproducible. Specifically, we focus on agents that perform tasks on websites, and we create an environment with fully functional websites from four common domains: e-commerce, social forum discussions, collaborative software development, and content management. Our environment is enriched with tools (e.g., a map) and external knowledge bases (e.g., user manuals) to encourage human-like task-solving. Building upon our environment, we release a set of benchmark tasks focusing on evaluating the functional correctness of task completions. The tasks in our benchmark are diverse, long-horizon, and are designed to emulate tasks that humans routinely perform on the internet. We design and implement several autonomous agents, integrating recent techniques such as reasoning before acting. The results demonstrate that solving complex tasks is challenging: our best GPT-4-based agent only achieves an end-to-end task success rate of 10.59%. These results highlight the need for further development of robust agents, that current state-of-the-art LMs are far from perfect performance in these real-life tasks, and that WebArena can be used to measure such progress. Our code, data, environment reproduction resources, and video demonstrations are publicly available at https://webarena.dev/.

We introduce LUMOS, a language-conditioned multi-task imitation learning framework for robotics. LUMOS learns skills by practicing them over many long-horizon rollouts in the latent space of a learned world model and transfers these skills zero-shot to a real robot. By learning on-policy in the latent space of the learned world model, our algorithm mitigates policy-induced distribution shift which most offline imitation learning methods suffer from. LUMOS learns from unstructured play data with fewer than 1% hindsight language annotations but is steerable with language commands at test time. We achieve this coherent long-horizon performance by combining latent planning with both image- and language-based hindsight goal relabeling during training, and by optimizing an intrinsic reward defined in the latent space of the world model over multiple time steps, effectively reducing covariate shift. In experiments on the difficult long-horizon CALVIN benchmark, LUMOS outperforms prior learning-based methods with comparable approaches on chained multi-task evaluations. To the best of our knowledge, we are the first to learn a language-conditioned continuous visuomotor control for a real-world robot within an offline world model. Videos, dataset and code are available at http://lumos.cs.uni-freiburg.de.

Vision-language-action (VLA) models have shown remarkable capabilities in robotic manipulation, but their performance is sensitive to the action chunk length used during training, termed horizon. Our empirical study reveals an inherent trade-off: longer horizons provide stronger global foresight but degrade fine-grained accuracy, while shorter ones sharpen local control yet struggle on long-term tasks, implying fixed choice of single horizons being suboptimal. To mitigate the trade-off, we propose a mixture of horizons (MoH) strategy. MoH rearranges the action chunk into several segments with different horizons, processes them in parallel with a shared action transformer, and fuses outputs with a light linear gate. It has three appealing benefits. 1) MoH exploits long-term foresight and short-term precision jointly within a single model, improving both performance and generalizability to complex tasks. 2) MoH is plug-and-play for full-attention action modules with minimal training or inference overhead. 3) MoH enables dynamic inference with adaptive horizons, which selects stable actions through cross-horizon consensus, achieving 2.5times higher throughput than baselines while preserving superior performance. Extensive experiments over flow-based policies π_0, π_{0.5}, and one-step regression policy π_{reg} demonstrate that MoH yields consistent and significant gains on both simulations and real-world tasks. Notably, under mixed-task setting, π_{0.5} with MoH reaches a new state-of-the-art with 99% average success rate on LIBERO after only 30k training iterations. Project page: https://github.com/Timsty1/MixtureOfHorizons

Large language models (LLMs) have demonstrated impressive results in developing generalist planning agents for diverse tasks. However, grounding these plans in expansive, multi-floor, and multi-room environments presents a significant challenge for robotics. We introduce SayPlan, a scalable approach to LLM-based, large-scale task planning for robotics using 3D scene graph (3DSG) representations. To ensure the scalability of our approach, we: (1) exploit the hierarchical nature of 3DSGs to allow LLMs to conduct a semantic search for task-relevant subgraphs from a smaller, collapsed representation of the full graph; (2) reduce the planning horizon for the LLM by integrating a classical path planner and (3) introduce an iterative replanning pipeline that refines the initial plan using feedback from a scene graph simulator, correcting infeasible actions and avoiding planning failures. We evaluate our approach on two large-scale environments spanning up to 3 floors, 36 rooms and 140 objects, and show that our approach is capable of grounding large-scale, long-horizon task plans from abstract, and natural language instruction for a mobile manipulator robot to execute.

Recent progress in latent world models (e.g., V-JEPA2) has shown promising capability in forecasting future world states from video observations. Nevertheless, dense prediction from a short observation window limits temporal context and can bias predictors toward local, low-level extrapolation, making it difficult to capture long-horizon semantics and reducing downstream utility. Vision--language models (VLMs), in contrast, provide strong semantic grounding and general knowledge by reasoning over uniformly sampled frames, but they are not ideal as standalone dense predictors due to compute-driven sparse sampling, a language-output bottleneck that compresses fine-grained interaction states into text-oriented representations, and a data-regime mismatch when adapting to small action-conditioned datasets. We propose a VLM-guided JEPA-style latent world modeling framework that combines dense-frame dynamics modeling with long-horizon semantic guidance via a dual-temporal pathway: a dense JEPA branch for fine-grained motion and interaction cues, and a uniformly sampled VLM thinker branch with a larger temporal stride for knowledge-rich guidance. To transfer the VLM's progressive reasoning signals effectively, we introduce a hierarchical pyramid representation extraction module that aggregates multi-layer VLM representations into guidance features compatible with latent prediction. Experiments on hand-manipulation trajectory prediction show that our method outperforms both a strong VLM-only baseline and a JEPA-predictor baseline, and yields more robust long-horizon rollout behavior.

We are interested in enabling visual planning for complex long-horizon tasks in the space of generated videos and language, leveraging recent advances in large generative models pretrained on Internet-scale data. To this end, we present video language planning (VLP), an algorithm that consists of a tree search procedure, where we train (i) vision-language models to serve as both policies and value functions, and (ii) text-to-video models as dynamics models. VLP takes as input a long-horizon task instruction and current image observation, and outputs a long video plan that provides detailed multimodal (video and language) specifications that describe how to complete the final task. VLP scales with increasing computation budget where more computation time results in improved video plans, and is able to synthesize long-horizon video plans across different robotics domains: from multi-object rearrangement, to multi-camera bi-arm dexterous manipulation. Generated video plans can be translated into real robot actions via goal-conditioned policies, conditioned on each intermediate frame of the generated video. Experiments show that VLP substantially improves long-horizon task success rates compared to prior methods on both simulated and real robots (across 3 hardware platforms).

Large vision-language models have recently demonstrated impressive performance in planning and control tasks, driving interest in their application to real-world robotics. However, deploying these models for reasoning in embodied contexts is limited by their ability to incorporate long-term experience collected across multiple days and represented by vast collections of images. Current VLMs typically struggle to process more than a few hundred images concurrently, highlighting the need for more efficient mechanisms to handle long-term memory in embodied settings. To effectively evaluate these models for long-horizon control, a benchmark must specifically target scenarios where memory is crucial for success. Existing long-video QA benchmarks overlook embodied challenges like object manipulation and navigation, which demand low-level skills and fine-grained reasoning over past interactions. Moreover, effective memory integration in embodied agents involves both recalling relevant historical information and executing actions based on that information, making it essential to study these aspects together rather than in isolation. In this work, we introduce a new benchmark for long-range embodied tasks in the Habitat simulator. This benchmark evaluates memory-based capabilities across 60 tasks requiring sustained engagement and contextual awareness in an environment. The tasks can also be procedurally extended to longer and more challenging versions, enabling scalable evaluation of memory and reasoning. We also present baselines that integrate state-of-the-art VLMs with low level navigation policies, assessing their performance on these memory-intensive tasks and highlight areas for improvement.

Large Language Models and multi-agent systems have shown promise in decomposing complex tasks, yet they struggle with long-horizon reasoning tasks and escalating computation cost. This work introduces a hierarchical multi-agent architecture that distributes reasoning across a 64*64 grid of lightweight agents, supported by a selective oracle. A spatial curriculum progressively expands the operational region of the grid, ensuring that agents master easier central tasks before tackling harder peripheral ones. To improve reliability, the system integrates Negative Log-Likelihood as a measure of confidence, allowing the curriculum to prioritize regions where agents are both accurate and well calibrated. A Thompson Sampling curriculum manager adaptively chooses training zones based on competence and NLL-driven reward signals. We evaluate the approach on a spatially grounded Tower of Hanoi benchmark, which mirrors the long-horizon structure of many robotic manipulation and planning tasks. Results demonstrate improved stability, reduced oracle usage, and stronger long-range reasoning from distributed agent cooperation.

Vision-Language-Action (VLA) models trained via imitation learning suffer from significant performance degradation in data-scarce scenarios due to their reliance on large-scale demonstration datasets. Although reinforcement learning (RL)-based post-training has proven effective in addressing data scarcity, its application to VLA models is hindered by the non-resettable nature of real-world environments. This limitation is particularly critical in high-risk domains such as industrial automation, where interactions often induce state changes that are costly or infeasible to revert. Furthermore, existing VLA approaches lack a reliable mechanism for detecting task completion, leading to redundant actions that reduce overall task success rates. To address these challenges, we propose World-Env, an RL-based post-training framework that replaces physical interaction with a low-cost, world model-based virtual simulator. World-Env consists of two key components: (1) a video-based world simulator that generates temporally consistent future visual observations, and (2) a vision-language model (VLM)-guided instant reflector that provides continuous reward signals and predicts action termination. This simulated environment enables VLA models to safely explore and generalize beyond their initial imitation learning distribution. Our method achieves notable performance gains with as few as five expert demonstrations per task. Experiments on complex robotic manipulation tasks demonstrate that World-Env effectively overcomes the data inefficiency, safety constraints, and inefficient execution of conventional VLA models that rely on real-world interaction, offering a practical and scalable solution for post-training in resource-constrained settings.

Large-scale data has driven breakthroughs in robotics, from language models to vision-language-action models in bimanual manipulation. However, humanoid robotics lacks equally effective data collection frameworks. Existing humanoid teleoperation systems either use decoupled control or depend on expensive motion capture setups. We introduce TWIST2, a portable, mocap-free humanoid teleoperation and data collection system that preserves full whole-body control while advancing scalability. Our system leverages PICO4U VR for obtaining real-time whole-body human motions, with a custom 2-DoF robot neck (cost around $250) for egocentric vision, enabling holistic human-to-humanoid control. We demonstrate long-horizon dexterous and mobile humanoid skills and we can collect 100 demonstrations in 15 minutes with an almost 100% success rate. Building on this pipeline, we propose a hierarchical visuomotor policy framework that autonomously controls the full humanoid body based on egocentric vision. Our visuomotor policy successfully demonstrates whole-body dexterous manipulation and dynamic kicking tasks. The entire system is fully reproducible and open-sourced at https://yanjieze.com/TWIST2 . Our collected dataset is also open-sourced at https://twist-data.github.io .

General-purpose robots coexisting with humans in their environment must learn to relate human language to their perceptions and actions to be useful in a range of daily tasks. Moreover, they need to acquire a diverse repertoire of general-purpose skills that allow composing long-horizon tasks by following unconstrained language instructions. In this paper, we present CALVIN (Composing Actions from Language and Vision), an open-source simulated benchmark to learn long-horizon language-conditioned tasks. Our aim is to make it possible to develop agents that can solve many robotic manipulation tasks over a long horizon, from onboard sensors, and specified only via human language. CALVIN tasks are more complex in terms of sequence length, action space, and language than existing vision-and-language task datasets and supports flexible specification of sensor suites. We evaluate the agents in zero-shot to novel language instructions and to novel environments and objects. We show that a baseline model based on multi-context imitation learning performs poorly on CALVIN, suggesting that there is significant room for developing innovative agents that learn to relate human language to their world models with this benchmark.

Acquiring a multi-task imitation policy in 3D manipulation poses challenges in terms of scene understanding and action prediction. Current methods employ both 3D representation and multi-view 2D representation to predict the poses of the robot's end-effector. However, they still require a considerable amount of high-quality robot trajectories, and suffer from limited generalization in unseen tasks and inefficient execution in long-horizon reasoning. In this paper, we propose SAM-E, a novel architecture for robot manipulation by leveraging a vision-foundation model for generalizable scene understanding and sequence imitation for long-term action reasoning. Specifically, we adopt Segment Anything (SAM) pre-trained on a huge number of images and promptable masks as the foundation model for extracting task-relevant features, and employ parameter-efficient fine-tuning on robot data for a better understanding of embodied scenarios. To address long-horizon reasoning, we develop a novel multi-channel heatmap that enables the prediction of the action sequence in a single pass, notably enhancing execution efficiency. Experimental results from various instruction-following tasks demonstrate that SAM-E achieves superior performance with higher execution efficiency compared to the baselines, and also significantly improves generalization in few-shot adaptation to new tasks.

A long-standing goal in robotics is to build robots that can perform a wide range of daily tasks from perceptions obtained with their onboard sensors and specified only via natural language. While recently substantial advances have been achieved in language-driven robotics by leveraging end-to-end learning from pixels, there is no clear and well-understood process for making various design choices due to the underlying variation in setups. In this paper, we conduct an extensive study of the most critical challenges in learning language conditioned policies from offline free-form imitation datasets. We further identify architectural and algorithmic techniques that improve performance, such as a hierarchical decomposition of the robot control learning, a multimodal transformer encoder, discrete latent plans and a self-supervised contrastive loss that aligns video and language representations. By combining the results of our investigation with our improved model components, we are able to present a novel approach that significantly outperforms the state of the art on the challenging language conditioned long-horizon robot manipulation CALVIN benchmark. We have open-sourced our implementation to facilitate future research in learning to perform many complex manipulation skills in a row specified with natural language. Codebase and trained models available at http://hulc.cs.uni-freiburg.de

General-purpose robots capable of performing diverse tasks require synergistic reasoning and acting capabilities. However, recent dual-system approaches, which separate high-level reasoning from low-level acting, often suffer from challenges such as limited mutual understanding of capabilities between systems and latency issues. This paper introduces OneTwoVLA, a single unified vision-language-action model that can perform both acting (System One) and reasoning (System Two). Crucially, OneTwoVLA adaptively switches between two modes: explicitly reasoning at critical moments during task execution, and generating actions based on the most recent reasoning at other times. To further unlock OneTwoVLA's reasoning and generalization capabilities, we design a scalable pipeline for synthesizing embodied reasoning-centric vision-language data, used for co-training with robot data. We validate OneTwoVLA's effectiveness through extensive experiments, highlighting its superior performance across four key capabilities: long-horizon task planning, error detection and recovery, natural human-robot interaction, and generalizable visual grounding, enabling the model to perform long-horizon, highly dexterous manipulation tasks such as making hotpot or mixing cocktails.

In this study, we are interested in imbuing robots with the capability of physically-grounded task planning. Recent advancements have shown that large language models (LLMs) possess extensive knowledge useful in robotic tasks, especially in reasoning and planning. However, LLMs are constrained by their lack of world grounding and dependence on external affordance models to perceive environmental information, which cannot jointly reason with LLMs. We argue that a task planner should be an inherently grounded, unified multimodal system. To this end, we introduce Robotic Vision-Language Planning (ViLa), a novel approach for long-horizon robotic planning that leverages vision-language models (VLMs) to generate a sequence of actionable steps. ViLa directly integrates perceptual data into its reasoning and planning process, enabling a profound understanding of commonsense knowledge in the visual world, including spatial layouts and object attributes. It also supports flexible multimodal goal specification and naturally incorporates visual feedback. Our extensive evaluation, conducted in both real-robot and simulated environments, demonstrates ViLa's superiority over existing LLM-based planners, highlighting its effectiveness in a wide array of open-world manipulation tasks.

Robot manipulation has seen tremendous progress in recent years, with imitation learning policies enabling successful performance of dexterous and hard-to-model tasks. Concurrently, scaling data and model size has led to the development of capable language and vision foundation models, motivating large-scale efforts to create general-purpose robot foundation models. While these models have garnered significant enthusiasm and investment, meaningful evaluation of real-world performance remains a challenge, limiting both the pace of development and inhibiting a nuanced understanding of current capabilities. In this paper, we rigorously evaluate multitask robot manipulation policies, referred to as Large Behavior Models (LBMs), by extending the Diffusion Policy paradigm across a corpus of simulated and real-world robot data. We propose and validate an evaluation pipeline to rigorously analyze the capabilities of these models with statistical confidence. We compare against single-task baselines through blind, randomized trials in a controlled setting, using both simulation and real-world experiments. We find that multi-task pretraining makes the policies more successful and robust, and enables teaching complex new tasks more quickly, using a fraction of the data when compared to single-task baselines. Moreover, performance predictably increases as pretraining scale and diversity grows. Project page: https://toyotaresearchinstitute.github.io/lbm1/

Large language models (LLMs) have demonstrated exciting progress in acquiring diverse new capabilities through in-context learning, ranging from logical reasoning to code-writing. Robotics researchers have also explored using LLMs to advance the capabilities of robotic control. However, since low-level robot actions are hardware-dependent and underrepresented in LLM training corpora, existing efforts in applying LLMs to robotics have largely treated LLMs as semantic planners or relied on human-engineered control primitives to interface with the robot. On the other hand, reward functions are shown to be flexible representations that can be optimized for control policies to achieve diverse tasks, while their semantic richness makes them suitable to be specified by LLMs. In this work, we introduce a new paradigm that harnesses this realization by utilizing LLMs to define reward parameters that can be optimized and accomplish variety of robotic tasks. Using reward as the intermediate interface generated by LLMs, we can effectively bridge the gap between high-level language instructions or corrections to low-level robot actions. Meanwhile, combining this with a real-time optimizer, MuJoCo MPC, empowers an interactive behavior creation experience where users can immediately observe the results and provide feedback to the system. To systematically evaluate the performance of our proposed method, we designed a total of 17 tasks for a simulated quadruped robot and a dexterous manipulator robot. We demonstrate that our proposed method reliably tackles 90% of the designed tasks, while a baseline using primitive skills as the interface with Code-as-policies achieves 50% of the tasks. We further validated our method on a real robot arm where complex manipulation skills such as non-prehensile pushing emerge through our interactive system.

Long-horizon planning is hindered by challenges such as uncertainty accumulation, computational complexity, delayed rewards and incomplete information. This work proposes an approach to exploit the task hierarchy from human instructions to facilitate multi-robot planning. Using Large Language Models (LLMs), we propose a two-step approach to translate multi-sentence instructions into a structured language, Hierarchical Linear Temporal Logic (LTL), which serves as a formal representation for planning. Initially, LLMs transform the instructions into a hierarchical representation defined as Hierarchical Task Tree, capturing the logical and temporal relations among tasks. Following this, a domain-specific fine-tuning of LLM translates sub-tasks of each task into flat LTL formulas, aggregating them to form hierarchical LTL specifications. These specifications are then leveraged for planning using off-the-shelf planners. Our framework not only bridges the gap between instructions and algorithmic planning but also showcases the potential of LLMs in harnessing hierarchical reasoning to automate multi-robot task planning. Through evaluations in both simulation and real-world experiments involving human participants, we demonstrate that our method can handle more complex instructions compared to existing methods. The results indicate that our approach achieves higher success rates and lower costs in multi-robot task allocation and plan generation. Demos videos are available at https://youtu.be/7WOrDKxIMIs .

In this work, we address the challenging problem of long-horizon goal-reaching policy learning from non-expert, action-free observation data. Unlike fully labeled expert data, our data is more accessible and avoids the costly process of action labeling. Additionally, compared to online learning, which often involves aimless exploration, our data provides useful guidance for more efficient exploration. To achieve our goal, we propose a novel subgoal guidance learning strategy. The motivation behind this strategy is that long-horizon goals offer limited guidance for efficient exploration and accurate state transition. We develop a diffusion strategy-based high-level policy to generate reasonable subgoals as waypoints, preferring states that more easily lead to the final goal. Additionally, we learn state-goal value functions to encourage efficient subgoal reaching. These two components naturally integrate into the off-policy actor-critic framework, enabling efficient goal attainment through informative exploration. We evaluate our method on complex robotic navigation and manipulation tasks, demonstrating a significant performance advantage over existing methods. Our ablation study further shows that our method is robust to observation data with various corruptions.

This paper introduces RoboDexVLM, an innovative framework for robot task planning and grasp detection tailored for a collaborative manipulator equipped with a dexterous hand. Previous methods focus on simplified and limited manipulation tasks, which often neglect the complexities associated with grasping a diverse array of objects in a long-horizon manner. In contrast, our proposed framework utilizes a dexterous hand capable of grasping objects of varying shapes and sizes while executing tasks based on natural language commands. The proposed approach has the following core components: First, a robust task planner with a task-level recovery mechanism that leverages vision-language models (VLMs) is designed, which enables the system to interpret and execute open-vocabulary commands for long sequence tasks. Second, a language-guided dexterous grasp perception algorithm is presented based on robot kinematics and formal methods, tailored for zero-shot dexterous manipulation with diverse objects and commands. Comprehensive experimental results validate the effectiveness, adaptability, and robustness of RoboDexVLM in handling long-horizon scenarios and performing dexterous grasping. These results highlight the framework's ability to operate in complex environments, showcasing its potential for open-vocabulary dexterous manipulation. Our open-source project page can be found at https://henryhcliu.github.io/robodexvlm.

Vision-Language-Action (VLA) models have recently been proposed as a pathway toward generalist robotic policies capable of interpreting natural language and visual inputs to generate manipulation actions. However, their effectiveness and efficiency on structured, long-horizon manipulation tasks remain unclear. In this work, we present a head-to-head empirical comparison between a fine-tuned open-weight VLA model π0 and a neuro-symbolic architecture that combines PDDL-based symbolic planning with learned low-level control. We evaluate both approaches on structured variants of the Towers of Hanoi manipulation task in simulation while measuring both task performance and energy consumption during training and execution. On the 3-block task, the neuro-symbolic model achieves 95% success compared to 34% for the best-performing VLA. The neuro-symbolic model also generalizes to an unseen 4-block variant (78% success), whereas both VLAs fail to complete the task. During training, VLA fine-tuning consumes nearly two orders of magnitude more energy than the neuro-symbolic approach. These results highlight important trade-offs between end-to-end foundation-model approaches and structured reasoning architectures for long-horizon robotic manipulation, emphasizing the role of explicit symbolic structure in improving reliability, data efficiency, and energy efficiency. Code and models are available at https://price-is-not-right.github.io

How can we imbue robots with the ability to manipulate objects precisely but also to reason about them in terms of abstract concepts? Recent works in manipulation have shown that end-to-end networks can learn dexterous skills that require precise spatial reasoning, but these methods often fail to generalize to new goals or quickly learn transferable concepts across tasks. In parallel, there has been great progress in learning generalizable semantic representations for vision and language by training on large-scale internet data, however these representations lack the spatial understanding necessary for fine-grained manipulation. To this end, we propose a framework that combines the best of both worlds: a two-stream architecture with semantic and spatial pathways for vision-based manipulation. Specifically, we present CLIPort, a language-conditioned imitation-learning agent that combines the broad semantic understanding (what) of CLIP [1] with the spatial precision (where) of Transporter [2]. Our end-to-end framework is capable of solving a variety of language-specified tabletop tasks from packing unseen objects to folding cloths, all without any explicit representations of object poses, instance segmentations, memory, symbolic states, or syntactic structures. Experiments in simulated and real-world settings show that our approach is data efficient in few-shot settings and generalizes effectively to seen and unseen semantic concepts. We even learn one multi-task policy for 10 simulated and 9 real-world tasks that is better or comparable to single-task policies.

Robotic systems that aspire to operate in uninstrumented real-world environments must perceive the world directly via onboard sensing. Vision-based learning systems aim to eliminate the need for environment instrumentation by building an implicit understanding of the world based on raw pixels, but navigating the contact-rich high-dimensional search space from solely sparse visual reward signals significantly exacerbates the challenge of exploration. The applicability of such systems is thus typically restricted to simulated or heavily engineered environments since agent exploration in the real-world without the guidance of explicit state estimation and dense rewards can lead to unsafe behavior and safety faults that are catastrophic. In this study, we isolate the root causes behind these limitations to develop a system, called MoDem-V2, capable of learning contact-rich manipulation directly in the uninstrumented real world. Building on the latest algorithmic advancements in model-based reinforcement learning (MBRL), demo-bootstrapping, and effective exploration, MoDem-V2 can acquire contact-rich dexterous manipulation skills directly in the real world. We identify key ingredients for leveraging demonstrations in model learning while respecting real-world safety considerations -- exploration centering, agency handover, and actor-critic ensembles. We empirically demonstrate the contribution of these ingredients in four complex visuo-motor manipulation problems in both simulation and the real world. To the best of our knowledge, our work presents the first successful system for demonstration-augmented visual MBRL trained directly in the real world. Visit https://sites.google.com/view/modem-v2 for videos and more details.

Developing a general robot manipulation system capable of performing a wide range of tasks in complex, dynamic, and unstructured real-world environments has long been a challenging task. It is widely recognized that achieving human-like efficiency and robustness manipulation requires the robotic brain to integrate a comprehensive set of functions, such as task planning, policy generation, anomaly monitoring and handling, and long-term memory, achieving high-efficiency operation across all functions. Vision-Language Models (VLMs), pretrained on massive multimodal data, have acquired rich world knowledge, exhibiting exceptional scene understanding and multimodal reasoning capabilities. However, existing methods typically focus on realizing only a single function or a subset of functions within the robotic brain, without integrating them into a unified cognitive architecture. Inspired by a divide-and-conquer strategy and the architecture of the human brain, we propose FrankenBot, a VLM-driven, brain-morphic robotic manipulation framework that achieves both comprehensive functionality and high operational efficiency. Our framework includes a suite of components, decoupling a part of key functions from frequent VLM calls, striking an optimal balance between functional completeness and system efficiency. Specifically, we map task planning, policy generation, memory management, and low-level interfacing to the cortex, cerebellum, temporal lobe-hippocampus complex, and brainstem, respectively, and design efficient coordination mechanisms for the modules. We conducted comprehensive experiments in both simulation and real-world robotic environments, demonstrating that our method offers significant advantages in anomaly detection and handling, long-term memory, operational efficiency, and stability -- all without requiring any fine-tuning or retraining.

We introduce BiGym, a new benchmark and learning environment for mobile bi-manual demo-driven robotic manipulation. BiGym features 40 diverse tasks set in home environments, ranging from simple target reaching to complex kitchen cleaning. To capture the real-world performance accurately, we provide human-collected demonstrations for each task, reflecting the diverse modalities found in real-world robot trajectories. BiGym supports a variety of observations, including proprioceptive data and visual inputs such as RGB, and depth from 3 camera views. To validate the usability of BiGym, we thoroughly benchmark the state-of-the-art imitation learning algorithms and demo-driven reinforcement learning algorithms within the environment and discuss the future opportunities.

While large language models (LLMs) are successful in completing various language processing tasks, they easily fail to interact with the physical world by generating control sequences properly. We find that the main reason is that LLMs are not grounded in the physical world. Existing LLM-based approaches circumvent this problem by relying on additional pre-defined skills or pre-trained sub-policies, making it hard to adapt to new tasks. In contrast, we aim to address this problem and explore the possibility to prompt pre-trained LLMs to accomplish a series of robotic manipulation tasks in a training-free paradigm. Accordingly, we propose a framework called LLM+A(ffordance) where the LLM serves as both the sub-task planner (that generates high-level plans) and the motion controller (that generates low-level control sequences). To ground these plans and control sequences on the physical world, we develop the affordance prompting technique that stimulates the LLM to 1) predict the consequences of generated plans and 2) generate affordance values for relevant objects. Empirically, we evaluate the effectiveness of LLM+A in various language-conditioned robotic manipulation tasks, which show that our approach substantially improves performance by enhancing the feasibility of generated plans and control and can easily generalize to different environments.

Recent advancements in large language models (LLMs) have enabled significant progress in decision-making and task planning for embodied autonomous agents. However, most existing methods struggle with complex, long-horizon tasks because they rely on a monolithic trajectory that entangles all past decisions and observations to solve the entire task in a single unified process. To address this limitation, we propose ReAcTree, a hierarchical task-planning method that decomposes a complex goal into manageable subgoals within a dynamically constructed agent tree. Each subgoal is handled by an LLM agent node capable of reasoning, acting, and further expanding the tree, while control flow nodes coordinate the execution strategies of agent nodes. In addition, we integrate two complementary memory systems: each agent node retrieves goal-specific, subgoal-level examples from episodic memory and shares environment-specific observations through working memory. Experiments on the WAH-NL and ALFRED show ReAcTree consistently outperforms strong task-planning baselines such as ReAct across diverse LLMs. Notably, on WAH-NL, ReAcTree achieves a 61% goal success rate with Qwen 2.5 72B, nearly doubling ReAct's 31%. The code is available at https://github.com/Choi-JaeWoo/ReAcTree.git.

Embodied navigation is a fundamental capability of embodied intelligence, enabling robots to move and interact within physical environments. However, existing navigation tasks primarily focus on predefined object navigation or instruction following, which significantly differs from human needs in real-world scenarios involving complex, open-ended scenes. To bridge this gap, we introduce a challenging long-horizon navigation task that requires understanding high-level human instructions and performing spatial-aware object navigation in real-world environments. Existing embodied navigation methods struggle with such tasks due to their limitations in comprehending high-level human instructions and localizing objects with an open vocabulary. In this paper, we propose NavA^3, a hierarchical framework divided into two stages: global and local policies. In the global policy, we leverage the reasoning capabilities of Reasoning-VLM to parse high-level human instructions and integrate them with global 3D scene views. This allows us to reason and navigate to regions most likely to contain the goal object. In the local policy, we have collected a dataset of 1.0 million samples of spatial-aware object affordances to train the NaviAfford model (PointingVLM), which provides robust open-vocabulary object localization and spatial awareness for precise goal identification and navigation in complex environments. Extensive experiments demonstrate that NavA^3 achieves SOTA results in navigation performance and can successfully complete longhorizon navigation tasks across different robot embodiments in real-world settings, paving the way for universal embodied navigation. The dataset and code will be made available. Project website: https://NavigationA3.github.io/.

Vision-Language-Action (VLA) models are promising for generalist robot manipulation but remain brittle in out-of-distribution (OOD) settings, especially with limited real-robot data. To resolve the generalization bottleneck, we introduce a hierarchical Vision-Language-Action framework that leverages the generalization of large-scale pre-trained world model for robust and generalizable VIsual Subgoal TAsk decomposition VISTA. Our hierarchical framework consists of a world model as the high-level planner and a VLA as the low-level executor. The high-level world model first divides manipulation tasks into subtask sequences with goal images, and the low-level policy follows the textual and visual guidance to generate action sequences. Compared to raw textual goal specification, these synthesized goal images provide visually and physically grounded details for low-level policies, making it feasible to generalize across unseen objects and novel scenarios. We validate both visual goal synthesis and our hierarchical VLA policies in massive out-of-distribution scenarios, and the performance of the same-structured VLA in novel scenarios could boost from 14% to 69% with the guidance generated by the world model. Results demonstrate that our method outperforms previous baselines with a clear margin, particularly in out-of-distribution scenarios. Project page: https://vista-wm.github.io/{https://vista-wm.github.io}

Recent advancements in Multimodal Large Language Models (MLLMs) have shown remarkable capabilities across various multimodal contexts. However, their application in robotic scenarios, particularly for long-horizon manipulation tasks, reveals significant limitations. These limitations arise from the current MLLMs lacking three essential robotic brain capabilities: Planning Capability, which involves decomposing complex manipulation instructions into manageable sub-tasks; Affordance Perception, the ability to recognize and interpret the affordances of interactive objects; and Trajectory Prediction, the foresight to anticipate the complete manipulation trajectory necessary for successful execution. To enhance the robotic brain's core capabilities from abstract to concrete, we introduce ShareRobot, a high-quality heterogeneous dataset that labels multi-dimensional information such as task planning, object affordance, and end-effector trajectory. ShareRobot's diversity and accuracy have been meticulously refined by three human annotators. Building on this dataset, we developed RoboBrain, an MLLM-based model that combines robotic and general multi-modal data, utilizes a multi-stage training strategy, and incorporates long videos and high-resolution images to improve its robotic manipulation capabilities. Extensive experiments demonstrate that RoboBrain achieves state-of-the-art performance across various robotic tasks, highlighting its potential to advance robotic brain capabilities.

Large-scale robot learning has recently shown promise for enabling robots to perform complex tasks by integrating perception, control, and language understanding. Yet, it struggles with long-horizon, contact-rich manipulation such as deformable object handling, where demonstration quality is inconsistent. Reward modeling offers a natural solution: by providing grounded progress signals, it transforms noisy demonstrations into stable supervision that generalizes across diverse trajectories. We introduce a stage-aware, video-based reward modeling framework that jointly predicts high-level task stages and fine-grained progress. Reward labels are automatically derived from natural language subtask annotations, ensuring consistent progress estimation across variable-length demonstrations. This design overcomes frame-index labeling, which fails in variable-duration tasks like folding a T-shirt. Our reward model demonstrates robustness to variability, generalization to out-of-distribution settings, and strong utility for policy training. Building on it, we propose Reward-Aligned Behavior Cloning (RA-BC), which filters high-quality data and reweights samples by reward. Experiments show the reward model alone outperforms baselines on validation and real robot rollouts. Integrated into RA-BC, our approach achieves 83% success on folding T-shirts from the flattened state and 67% from the crumpled state -- far surpassing vanilla behavior cloning, which attains only 8% and 0% success. Overall, our results highlight reward modeling as a key enabler for scalable, annotation-efficient, and robust imitation learning in long-horizon manipulation.

We introduce EnerVerse, a comprehensive framework for embodied future space generation specifically designed for robotic manipulation tasks. EnerVerse seamlessly integrates convolutional and bidirectional attention mechanisms for inner-chunk space modeling, ensuring low-level consistency and continuity. Recognizing the inherent redundancy in video data, we propose a sparse memory context combined with a chunkwise unidirectional generative paradigm to enable the generation of infinitely long sequences. To further augment robotic capabilities, we introduce the Free Anchor View (FAV) space, which provides flexible perspectives to enhance observation and analysis. The FAV space mitigates motion modeling ambiguity, removes physical constraints in confined environments, and significantly improves the robot's generalization and adaptability across various tasks and settings. To address the prohibitive costs and labor intensity of acquiring multi-camera observations, we present a data engine pipeline that integrates a generative model with 4D Gaussian Splatting (4DGS). This pipeline leverages the generative model's robust generalization capabilities and the spatial constraints provided by 4DGS, enabling an iterative enhancement of data quality and diversity, thus creating a data flywheel effect that effectively narrows the sim-to-real gap. Finally, our experiments demonstrate that the embodied future space generation prior substantially enhances policy predictive capabilities, resulting in improved overall performance, particularly in long-range robotic manipulation tasks.

Human behavior is among the most scalable sources of data for learning physical intelligence, yet how to effectively leverage it for dexterous manipulation remains unclear. While prior work demonstrates human to robot transfer in constrained settings, it is unclear whether large scale human data can support fine grained, high degree of freedom dexterous manipulation. We present EgoScale, a human to dexterous manipulation transfer framework built on large scale egocentric human data. We train a Vision Language Action (VLA) model on over 20,854 hours of action labeled egocentric human video, more than 20 times larger than prior efforts, and uncover a log linear scaling law between human data scale and validation loss. This validation loss strongly correlates with downstream real robot performance, establishing large scale human data as a predictable supervision source. Beyond scale, we introduce a simple two stage transfer recipe: large scale human pretraining followed by lightweight aligned human robot mid training. This enables strong long horizon dexterous manipulation and one shot task adaptation with minimal robot supervision. Our final policy improves average success rate by 54% over a no pretraining baseline using a 22 DoF dexterous robotic hand, and transfers effectively to robots with lower DoF hands, indicating that large scale human motion provides a reusable, embodiment agnostic motor prior.

Recent studies have delved into constructing autonomous agents capable of performing complex Graphical User Interface (GUI)-based computer tasks, with the potential to revolutionize human-computer interaction. Despite encouraging results, existing efforts mainly focus on short-term interactions and rely on outcome-only verification, thereby limiting their scalability in real-world GUI applications that demand long-horizon task decomposition and execution. In this work, we introduce VeriGUI, a novel verifiable long-chain GUI dataset designed to facilitate the development and evaluation of generalist GUI agents operating in realistic computer environments. Our dataset emphasizes two critical dimensions: (1) long-chain complexity, with tasks decomposed into a sequence of interdependent subtasks spanning hundreds of steps, explicitly designed to allow any subtask to serve as a valid starting point; and (2) subtask-level verifiability, which enables diverse exploration strategies within each subtask, while ensuring that each subtask-level goal remains verifiable and consistent. The dataset consists of GUI task trajectories across both desktop and web, annotated by human experts. Extensive experiments on VeriGUI using various agents with different foundation models reveal significant performance gaps in handling long-horizon tasks, highlighting the need for more robust planning and decision-making capabilities in GUI agents.

Generalist robot policies can now perform a wide range of manipulation skills, but evaluating and improving their ability with unfamiliar objects and instructions remains a significant challenge. Rigorous evaluation requires a large number of real-world rollouts, while systematic improvement demands additional corrective data with expert labels. Both of these processes are slow, costly, and difficult to scale. World models offer a promising, scalable alternative by enabling policies to rollout within imagination space. However, a key challenge is building a controllable world model that can handle multi-step interactions with generalist robot policies. This requires a world model compatible with modern generalist policies by supporting multi-view prediction, fine-grained action control, and consistent long-horizon interactions, which is not achieved by previous works. In this paper, we make a step forward by introducing a controllable multi-view world model that can be used to evaluate and improve the instruction-following ability of generalist robot policies. Our model maintains long-horizon consistency with a pose-conditioned memory retrieval mechanism and achieves precise action control through frame-level action conditioning. Trained on the DROID dataset (95k trajectories, 564 scenes), our model generates spatially and temporally consistent trajectories under novel scenarios and new camera placements for over 20 seconds. We show that our method can accurately rank policy performance without real-world robot rollouts. Moreover, by synthesizing successful trajectories in imagination and using them for supervised fine-tuning, our approach can improve policy success by 44.7\%.