Let the Mind Conceive, Let the Hand Achieve: Following Multimodal Instructions for Long-Horizon Robotic Manipulation
A robot following a multi-step instruction needs to act on the right objects in the right order, even as the scene changes. It must also maintain awareness of task progress and determine when to advance. To address these challenges, we introduce Orchestra, an agent harness that separates task planning and execution management from action generation. Orchestra decomposes a complete multimodal instruction into ordered subtasks, tracks completed steps, and updates the locations of relevant objects and destinations during execution. It maintains a shared context containing the active subtask, spatial grounding, and recent observations. An action policy uses this context to generate actions, w...
| Authors | Youpeng Wen, Gang Wang, Tianyu Huang et al. |
|---|---|
| Primary category | cs.RO |
| Published | 13 October 2026 |
| Last updated at source | 13 October 2026 |
Silytics shows public metadata from arXiv and links to the original. Information may be incomplete or out of date. Last refreshed 15 October 2026. Licenses and terms of the original apply to the work itself. Not financial, legal or professional advice.