ACE: Agentic Control for Embodied Manipulation via Zero-shot Workflow Reasoning
ACE introduces an agentic workflow reasoning framework for open-ended manipulation that allows agents to adapt to failures and novel tasks without retraining. It decouples high-level semantic planning from low-level control using a mask interface and closed-loop verification. This enables zero-shot generalization on complex, logically demanding tasks by allowing the agent to generate, ground, execute, and revise sub-goals online.