Author

Zhi-Yuan Li

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Preprint Sep 2026

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

Hierarchical planning frameworks combine skills from multiple robot control policies for long-horizon task execution, where determining when to terminate the current skill and advance to the next subtask is essential. Existing approaches often rely on pre-designed completion signal checkers that are hard to obtain in r...

Jinbang Huang, Yuan Hu, Zhi-Yuan Li et al. · 0 citations