Representation-Guided Generation and Integration of Executable Programs for Robot Manipulation

arXiv:2609.31337 · cs.RO · Submitted 2026-09-25 · Read on arXiv

cs.RO

Submitted: 2026-09-25

Updated: 2026-09-25

Terminology

• Grounding — 7× in this paper · explained in 3 episodes
• Calibration — 3× in this paper · explained in 7 episodes
• Abstraction — 2× in this paper · explained in 1 episode
• Generalization — 2× in this paper · explained in 13 episodes
• Robustness — 2× in this paper · explained in 5 episodes
• Verification — 2× in this paper · explained in 2 episodes
• Agentic Reasoning — 1× in this paper · explained in 1 episode
• Alignment — 1× in this paper · explained in 1 episode
• Consistency — 1× in this paper · explained in 3 episodes
• Core — 1× in this paper · explained in 2 episodes
• Failure Modes — 1× in this paper · explained in 3 episodes
• Structural Constraints — 1× in this paper · explained in 2 episodes
• Task Planning — 1× in this paper · explained in 2 episodes
• Temporal Reasoning — 1× in this paper · explained in 2 episodes
• Vision-Language Models (VLMs) — 1× in this paper · explained in 6 episodes
• Visual Grounding — 1× in this paper · explained in 2 episodes

Sources

• RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control
• PaLM-E: An Embodied Multimodal Language Model
• VeriGraph: Scene Graphs for Execution Verifiable Robot Planning
• RHO: Your Coding Agent is Secretly a Roboticist
• PLanAR: Planning-Language-Grounded Agentic Reasoning for Robot Manipulation
• Look Before You Leap: Unveiling the Power of GPT-4V in Robotic Vision-Language Planning
• Instruct2Act: Mapping Multi-modality Instructions to Robotic Actions with Large Language Model
• ReKep: Spatio-Temporal Reasoning of Relational Keypoint Constraints for Robotic Manipulation
• VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language Models
• Inner Monologue: Embodied Reasoning through Planning with Language Models
• ASPIRE: Agentic /Skills Discovery for Robotics
• Programmatic Video Prediction Using Large Language Models

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