Sequential Planning via Anchored Robotic Keypoints

arXiv:2606.30613 · cs.RO · Submitted 2026-06-29 · Read on arXiv

cs.RO

Submitted: 2026-06-29

Updated: 2026-10-19

Comments: 30 pages, 7 figures

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• CaP-Agent0 and Vision-Language-Action — 1× in this paper
• Trace — 1× in this paper · explained in 2 episodes

Sources

• OpenVLA: An Open-Source Vision-Language-Action Model
• $\pi_0$: A Vision-Language-Action Flow Model for General Robot Control
• $\pi_{0.5}$: a Vision-Language-Action Model with Open-World Generalization
• MolmoAct2: Action Reasoning Models for Real-world Deployment
• LIBERO: Benchmarking Knowledge Transfer for Lifelong Robot Learning
• LIBERO-PRO: Towards Robust and Fair Evaluation of Vision-Language-Action Models Beyond Memorization
• Not All Features Are Created Equal: A Mechanistic Study of Vision-Language-Action Models
• Sparse Autoencoders Reveal Interpretable and Steerable Features in VLA Models
• CaP-X: A Framework for Benchmarking and Improving Coding Agents for Robot Manipulation
• SAM 3: Segment Anything with Concepts
• Do As I Can, Not As I Say: Grounding Language in Robotic Affordances
• Inner Monologue: Embodied Reasoning through Planning with Language Models
• Gemini Robotics 1.5: Pushing the Frontier of Generalist Robots with Advanced Embodied Reasoning, Thinking, and Motion Transfer
• NS-VLA: Towards Neuro-Symbolic Vision-Language-Action Models
• LIBERO-Plus: In-depth Robustness Analysis of Vision-Language-Action Models
• Code as Policies: Language Model Programs for Embodied Control
• ChatGPT for Robotics: Design Principles and Model Abilities
• ProgPrompt: Generating Situated Robot Task Plans using Large Language Models
• VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language Models
• Text2Motion: From Natural Language Instructions to Feasible Plans

Related papers

• FMT x: An Efficient and Asymptotically Optimal Extension of the Fast Marching Tree for Dynamic Replanning
• MPCFormer: A physics-informed data-driven approach for explainable socially-aware autonomous driving
• RoboLab: A High-Fidelity Simulation Benchmark for Analysis of Task Generalist Policies
• ARC: A Reasoning Recipe for Robot Foundation Models
• HRDexDB: A 4D Dexterous Grasping Dataset Across Human and Multiple Robot Embodiments
• APT: Action Expert Pretraining Improves Instruction Generalization of Vision-Language-Action Policies