PhasePlan: Ordered Future-Phase Planning for Robot Brain Models

arXiv:2609.39970 · cs.RO · Submitted 2026-09-30 · Read on arXiv

cs.RO

Submitted: 2026-09-30

Updated: 2026-09-30

Terminology

• Accuracy — 14× in this paper · explained in 1 episode
• Adaptation — 14× in this paper · explained in 1 episode
• Ablation — 5× in this paper · explained in 1 episode
• Phase Transitions — 4× in this paper · explained in 2 episodes
• Abstraction — 2× in this paper · explained in 1 episode
• Alignment — 2× in this paper · explained in 1 episode
• Foundation Model — 2× in this paper · explained in 3 episodes
• Generalization — 2× in this paper · explained in 13 episodes
• Task Planning — 2× in this paper · explained in 2 episodes
• Two-stage training — 2× in this paper · explained in 2 episodes
• Ablation Studies — 1× in this paper · explained in 1 episode
• Action Flow — 1× in this paper · explained in 1 episode
• Adaptive Multimodal Fusion — 1× in this paper · explained in 1 episode
• Distillation — 1× in this paper · explained in 2 episodes
• Embeddings — 1× in this paper · explained in 2 episodes
• Multimodal Fusion — 1× in this paper · explained in 3 episodes
• Multimodal Inputs — 1× in this paper · explained in 2 episodes
• Physical Constraints — 1× in this paper · explained in 7 episodes
• Scaffolding — 1× in this paper · explained in 3 episodes
• Transformer — 1× in this paper · explained in 2 episodes
• Two-Stage Training Strategy — 1× in this paper · explained in 3 episodes
• VLA Models — 1× in this paper · explained in 3 episodes

Sources

• From Abstraction to Instantiation: Learning Behavioral Representation for Vision-Language-Action Model
• GR00T N1: An Open Foundation Model for Generalist Humanoid Robots
• A Pragmatic VLA Foundation Model
• From Foundation to Application: Improving VLA Models in Practice
• S$^2$-VLA: State-Space Guided Vision-Language-Action Models for Long-Horizon Manipulation
• ProgressVLA: Progress-Guided Diffusion Policy for Vision-Language Robotic Manipulation
• AcrossWAM1.0:A Modular Latent World-Action Stack for Compact Robot Policies

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