Goal2Skill: Long-Horizon Manipulation with Adaptive Planning and Reflection

arXiv:2604.13942 · cs.RO · Submitted 2026-04-15 · Read on arXiv

cs.RO

Submitted: 2026-04-15

Updated: 2026-10-13

Terminology

• Ablation — 1× in this paper · explained in 1 episode
• Ablation Studies — 1× in this paper · explained in 1 episode
• Adaptive Planning — 1× in this paper · explained in 1 episode
• Task Decomposition — 1× in this paper · explained in 2 episodes
• Verification — 1× in this paper · explained in 2 episodes

Sources

• $\pi_0$: A Vision-Language-Action Flow Model for General Robot Control
• RMBench: Memory-Dependent Robotic Manipulation Benchmark with Insights into Policy Design
• GraspVLA: a Grasping Foundation Model Pre-trained on Billion-scale Synthetic Action Data
• Vision Language Action Models in Robotic Manipulation: A Systematic Review
• ThinkAct: Vision-Language-Action Reasoning via Reinforced Visual Latent Planning
• NORA-1.5: A Vision-Language-Action Model Trained using World Model- and Action-based Preference Rewards
• NORA: A Small Open-Sourced Generalist Vision Language Action Model for Embodied Tasks
• OpenVLA: An Open-Source Vision-Language-Action Model
• ReMem-VLA: Empowering Vision-Language-Action Model with Memory via Dual-Level Recurrent Queries
• RoboClaw: An Agentic Framework for Scalable Long-Horizon Robotic Tasks
• MAP-VLA: Memory-Augmented Prompting for Vision-Language-Action Model in Robotic Manipulation
• MemOS: An Operating System for Memory-Augmented Generation (MAG) in Large Language Models
• HybridVLA: Collaborative Diffusion and Autoregression in a Unified Vision-Language-Action Model
• RDT-1B: a Diffusion Foundation Model for Bimanual Manipulation
• A Survey on Vision-Language-Action Models for Embodied AI
• Meta-Memory: Retrieving and Integrating Semantic-Spatial Memories for Robot Spatial Reasoning
• MemoryVLA: Perceptual-Cognitive Memory in Vision-Language-Action Models for Robotic Manipulation
• MemER: Scaling Up Memory for Robot Control via Experience Retrieval
• GigaBrain-0.5M*: a VLA That Learns From World Model-Based Reinforcement Learning
• MEM: Multi-Scale Embodied Memory for Vision Language Action Models

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• ARC: A Reasoning Recipe for Robot Foundation Models
• HRDexDB: A 4D Dexterous Grasping Dataset Across Human and Multiple Robot Embodiments
• APT: Action Expert Pretraining Improves Instruction Generalization of Vision-Language-Action Policies