Don't Drop the BATON: Long-Horizon Robot Manipulation via Agentic Subtask Exploration and Transition-aware Memory
The episode discusses the paper "Don't Drop the BATON," which proposes breaking down long-horizon robot manipulation into smaller, independently explored subtasks. Key features include transition-aware memory that models control moves between stages and three specific transitions: invocation, handoff, and lookahead. This approach makes failures traceable and allows for additive cost scaling during training.