Hierarchical framework pairs in-context VLMs for high-level plan synthesis with RL-trained low-level skills and failure recovery to reach 92% success on long-horizon DLO routing across varied scenes and language inputs.
Commonsense reasoning for legged robot adaptation with vision-language models,
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Hierarchical DLO Routing with Reinforcement Learning and In-Context Vision-language Models
Hierarchical framework pairs in-context VLMs for high-level plan synthesis with RL-trained low-level skills and failure recovery to reach 92% success on long-horizon DLO routing across varied scenes and language inputs.