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.
Integrated Task and Motion Planning.Annual Review of Control, Robotics, and Autonomous Systems, 4(1):265–293, May 2021
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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.