Attacca: Goal-Directed Control under State Continuity for Long-Horizon Embodied Agents
Attacca is a new approach that trains visual goal-conditioned policies on complete search-to-interact trajectories using goal images decoupled from the execution environment, and introduces behavioral-phase conditioning that teaches the policy to distinguish Search, Approach, and Interact stages and adapt its control a...
Gyusik Seo, Jaehong Yoon
· 0 citations