NovaPlan (CoRL 2026): zero-shot long-horizon robot manipulation with no demonstrations
chris_j_paxton · x · 2026-10-14
NovaPlan, accepted to CoRL 2026 from the Robotics and AI Institute, CMU, Brown, Penn, and Harvard, enables robots to solve complex multi-step manipulation tasks with zero demonstrations and no task-specific training.
A closed-loop video language planner decomposes tasks into sub-goals and uses a video generation model to 'imagine' visual plans for action extraction, with autonomous re-planning on single-step failures. Hybrid object-flow and hand-flow extraction with a switching mechanism keeps execution stable under heavy occlusion. NovaPlan substantially outperforms prior zero-shot systems on diverse multi-stage tasks including assembly and dexterous non-prehensile error recovery.
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