ReSYNC learns recovery skills via RL then discovers and refines relational predicates to enable abstract planning that generalizes failure avoidance to unseen long-horizon tasks, outperforming baselines by over 50% in simulation and transferring to real robots.
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A hierarchical VLA architecture lets robots follow complex instructions and situated feedback by separating high-level reasoning from low-level control.
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Hi Robot: Open-Ended Instruction Following with Hierarchical Vision-Language-Action Models
A hierarchical VLA architecture lets robots follow complex instructions and situated feedback by separating high-level reasoning from low-level control.