2026
Multi-Modal Affordance Planner with Temporal-Context Action Policy for Long-Horizon Bimanual Robot Manipulation
ICRA 2026poster
Bimanual robot manipulation for long-horizon (LH) tasks is crucial for the practical use of humanoids, but it struggles with robust planning and generalization. Approaches based on Task and Motion Planning (TAMP), transformers, and Large Language Models (LLMs) suffer from critical limitations, inclu…