NovaPlan: Zero-Shot Long-Horizon Manipulation via Closed-Loop Video Language Planning
NovaPlan is a hierarchical framework that enables zero-shot long-horizon manipulation by combining high-level semantic reasoning with low-level physical robot execution. It uses closed-loop video planning, where a Vision Language Model decomposes tasks into sub-goals, generates visual rollouts, and verifies outcomes. The system adapts its control flow between object and hand movements to achieve complex assembly tasks autonomously.