Preprint
Oct 2026
Proprioceptive Sketches as Long-Horizon Intent for Generative Action Policies
Generative robot policies predict short action chunks but lack explicit long-horizon intent. Recent methods expose longer-horizon structure through language plans, subgoal images, or video forecasts, which are costly to generate and still need to be translated into robot motion. Predicting future robot motions avoids t...
Fang-Yuan Wang, Song-Hao Huang, Hao-Xiang Sun et al.
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