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PAL: A Hierarchical Memory Framework with Plan-First, Act-Later Streaming Reasoning for Robot Manipulation

The paper proposes PAL (Plan first, Act Later), a hierarchical memory framework for vision-language robot manipulation. A high-level vision-language model (VLM) converts streaming visual observations into a subtask_list, and at execution time selects the currently relevant subtask from it to pass to a low-level vision-language-action (VLA) policy.

Part of the event: PAL hierarchical memory framework paper released and evaluated

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