StageGuard: Learning Stage Transitions for Long-Horizon Robot Tasks via Agentic Distillation

arXiv:2609.20791 · cs.RO · Submitted 2026-09-17 · Read on arXiv

cs.RO

Submitted: 2026-09-17

Updated: 2026-09-17

Terminology

• Trace — 13× in this paper · explained in 2 episodes
• Accuracy — 11× in this paper · explained in 1 episode
• Fine-Tuning — 9× in this paper · explained in 5 episodes
• Benchmark — 8× in this paper · explained in 2 episodes
• Distillation — 8× in this paper · explained in 2 episodes
• Ablation — 5× in this paper · explained in 1 episode
• Ablation study — 3× in this paper · explained in 1 episode
• Agentic Reasoning — 3× in this paper · explained in 1 episode
• Structured Reasoning — 3× in this paper · explained in 3 episodes
• Adaptation — 2× in this paper · explained in 1 episode
• Generalization — 2× in this paper · explained in 13 episodes
• Reasoning Traces — 2× in this paper · explained in 3 episodes
• Transformer — 2× in this paper · explained in 2 episodes
• Vision-Language Models (VLMs) — 2× in this paper · explained in 6 episodes
• World Model — 2× in this paper · explained in 7 episodes
• Ablation Studies — 1× in this paper · explained in 1 episode
• Action Flow — 1× in this paper · explained in 1 episode
• Action Primitives — 1× in this paper · explained in 1 episode
• Adaptive Planning — 1× in this paper · explained in 1 episode
• Alignment — 1× in this paper · explained in 1 episode
• Benchmarking — 1× in this paper · explained in 3 episodes
• Chain-of-Thought (CoT) — 1× in this paper · explained in 4 episodes
• Embodied AI — 1× in this paper · explained in 2 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• IEEE International Conference on Robotics and Automation — 1× in this paper
• Regularization — 1× in this paper · explained in 3 episodes
• Steering — 1× in this paper · explained in 2 episodes
• Task Planning — 1× in this paper · explained in 2 episodes

Sources

• Imitating Task and Motion Planning with Visuomotor Transformers
• UniPlan: Vision-Language Task Planning for Mobile Manipulation with Unified PDDL Formulation
• ASPIRE: Agentic /Skills Discovery for Robotics
• ENPIRE: Agentic Robot Policy Self-Improvement in the Real World
• RoboHarness: Memory-Driven Orchestration of Heterogeneous Robot Policies for Long-Horizon Planning
• VisualPredicator: Learning Abstract World Models with Neuro-Symbolic Predicates for Robot Planning
• $\pi_0$: A Vision-Language-Action Flow Model for General Robot Control
• Unified Video Action Model
• Gemma: Open Models Based on Gemini Research and Technology
• PaLM-E: An Embodied Multimodal Language Model
• Gemini Robotics 1.5: Pushing the Frontier of Generalist Robots with Advanced Embodied Reasoning, Thinking, and Motion Transfer
• Self-CriTeach: LLM Self-Teaching and Self-Critiquing for Improving Robotic Planning via Automated Domain Generation
• BEHAVIOR-1K: A Human-Centered, Embodied AI Benchmark with 1,000 Everyday Activities and Realistic Simulation
• Harness VLA: Steering Frozen VLAs into Reliable Manipulation Primitives via Memory-Guided Agents
• Adversarial Skill Chaining for Long-Horizon Robot Manipulation via Terminal State Regularization
• LIV: Language-Image Representations and Rewards for Robotic Control
• $\pi^{*}_{0.6}$: a VLA That Learns From Experience
• Large Reward Models: Generalizable Online Robot Reward Generation with Vision-Language Models
• SARM2: Multi-Task Stage Aware Reward Modeling for Self Improving Robotic Manipulation
• AHA: A Vision-Language-Model for Detecting and Reasoning Over Failures in Robotic Manipulation

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• HRDexDB: A 4D Dexterous Grasping Dataset Across Human and Multiple Robot Embodiments
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