Let the Mind Conceive, Let the Hand Achieve: Following Multimodal Instructions for Long-Horizon Robotic Manipulation
cs.RO, cs.AI
Submitted: 2026-10-13
Updated: 2026-10-13
Project page: https://youpengwen.github.io/Orchestra
License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
Sources
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- SAM 3: Segment Anything with Concepts
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- Diffusion Policy: Visuomotor Policy Learning via Action Diffusion
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- DeepSeek-V4.1-Flash: Pushing the Limits of KV Cache Compression
- LangGap: Diagnosing and Closing the Language Gap in Vision-Language-Action Models
- Inner Monologue: Embodied Reasoning through Planning with Language Models
- VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language Models
- VIMA: General Robot Manipulation with Multimodal Prompts
- OpenVLA: An Open-Source Vision-Language-Action Model
- HAMLET: Switch your Vision-Language-Action Model into a History-Aware Policy
- Towards Long-horizon Embodied Agents with Tool-Aligned Vision-Language-Action Models
- Code as Policies: Language Model Programs for Embodied Control
- Flow Matching for Generative Modeling
- Octo: An Open-Source Generalist Robot Policy
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