SUN: Persistent Programs For Language-Grounded Control-to-Learning-to-Real Policies

Bridging model-based control and learned policies in long-horizon manipulation has harbored a silent disagreement: control executes specified objectives, learning amortizes that behavior into a reactive policy, yet existing protocols discard task semantics, leaving rewards hand-crafted and behavior drifting from what control verified.We introduce Semantically UNified (SUN) Programs, typed…

arxiv.org ·11h ago

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11h ago ·zdnet.com

SUN: Persistent Programs For Language-Grounded Control-to-Learning-to-Real Policies

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