Task Decomposition via VLM Limited by Robot's Own Comprehension
svlevine · x · 2026-07-04
Using a high-level VLM policy to break down complex tasks into steps (a common technique) yields reasonable intermediate steps. However, the VLM still repeatedly instructs the robot to use a hammer, oblivious to what the robot actually understands. This highlights the semantic gap between high-level planning and low-level execution.
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