A VLM planner that adaptively inserts latent visual thoughts of future states into its reasoning trace beats language-only and prior VLM planners on long-horizon kitchen tasks, especially under tight free space.
Output Format: First, write step-by-step reasoning about how to complete the task, including task decomposition, subgoal setting, and action sequencing
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APIVOT: Adaptive Planning with Interleaved Vision-Language Thoughts
A VLM planner that adaptively inserts latent visual thoughts of future states into its reasoning trace beats language-only and prior VLM planners on long-horizon kitchen tasks, especially under tight free space.