Predicted robotics stack: LLM planning plus VLA-WAM policy plus RL whole-body control
paigeinsf · x · 2026-10-31
@archiexzzz predicts a three-tier future robotics architecture: System 2 uses LLM agents for long-horizon planning, task decomposition, tool/skill use, memory and closed-loop replanning (mostly agentic harness + function calling); System 1 is a hybrid VLA-WAM policy that jointly models future world states and actions with a MOT/dual-expert backbone, outputting action chunks or motion tokens; System 0 is a small (10M–100M) learned whole-body controller turning outputs into joint/torque commands with balance, contact, dynamics and safety constraints, trained via RL plus human motion priors. The take drew agreement from practitioners.
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