PALM improves long-horizon robotic manipulation success by distilling affordance representations for object interaction and predicting within-subtask progress in a VLA model.
Oric: Benchmarking object recogni- tion under contextual incongruity in large vision-language models.arXiv preprint arXiv:2509.15695, 2025
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PALM: Progress-Aware Policy Learning via Affordance Reasoning for Long-Horizon Robotic Manipulation
PALM improves long-horizon robotic manipulation success by distilling affordance representations for object interaction and predicting within-subtask progress in a VLA model.