Anticipation-VLA uses an anticipation model to adaptively and recursively generate subgoals that guide low-level VLA policy execution, improving robustness on long-horizon embodied tasks over fixed-granularity baselines.
The scene contains multiple everyday objects, including fruits (e.g., apples and lemons) and utensils (e.g., forks and knives), placed on plates of different shapes and colors
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Anticipation-VLA: Solving Long-Horizon Embodied Tasks via Anticipation-based Subgoal Generation
Anticipation-VLA uses an anticipation model to adaptively and recursively generate subgoals that guide low-level VLA policy execution, improving robustness on long-horizon embodied tasks over fixed-granularity baselines.