Learns state-conditioned commitment depth in a 7B vision-language policy that jointly predicts actions and replan intervals, outperforming fixed-depth baselines and larger models on Sliding Puzzle and Sokoban while providing a theoretical dominance result.
Human-like planning for reaching in cluttered environments
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When to Re-Commit: Temporal Abstraction Discovery for Long-Horizon Vision-Language Reasoning
Learns state-conditioned commitment depth in a 7B vision-language policy that jointly predicts actions and replan intervals, outperforming fixed-depth baselines and larger models on Sliding Puzzle and Sokoban while providing a theoretical dominance result.