A Brain-inspired Hierarchical Framework for Zero-Shot Robot Task Reasoning and Execution

arXiv:2609.05985v1 Announce Type: new Abstract: Robots that follow open-ended language instructions need to connect semantic intent to visual scene understanding, geometric feasibility, object states, and physical interaction conditions. End-to-end Vision-Language-Action policies have improved cross-task generalization, but they typically map visual and language inputs directly to robot actions, leaving limited explicit structure for long-horizon decomposition, physical verification, and recovery. We present \method, a zero-shot hierarchical framework functionally inspired by the division of roles in the human brain, comprising visual perception and state inference, language grounding and action-sequence generation from a shared atomic action library, cost-based plan selection, and real-robot execution and verification. The framework grounds commands in explicit object states, composes reusable atomic actions into task-conditioned sequences, ranks alternative sequences by execution cost, and verifies intermediate physical outcomes from refreshed observations. In the evaluation, \method{} completes 10/10 clean board trials, 10/10 pick-and-place trials, and 4/5 pyramid stacking trials for both the flat and irregular initial-layout conditions; the corresponding mean task progress is $99.03\%$, $100.00\%$, and $96.67\%$ respectively. Across all evaluated conditions, \method{} achieves higher success rates than ReKep, Dream2Flow, and $\pi_{0.5}$ benchmarks, demonstrating the effectiveness of combining explicit object-state reasoning, compositional atomic actions, cost-based plan selection, and closed-loop execution verification.

Abstract:Robots that follow open-ended language instructions need to connect semantic intent to visual scene understanding, geometric feasibility, object states, and physical interaction conditions. End-to-end Vision-Language-Action policies have improved cross-task generalization, but they typically map visual and language inputs directly to robot actions, leaving limited explicit structure for long-horizon decomposition, physical verification, and recovery. We present \method, a zero-shot hierarchical framework functionally inspired by the division of roles in the human brain, comprising visual perception and state inference, language grounding and action-sequence generation from a shared atomic action library, cost-based plan selection, and real-robot execution and verification. The framework grounds commands in explicit object states, composes reusable atomic actions into task-conditioned sequences, ranks alternative sequences by execution cost, and verifies intermediate physical outcomes from refreshed observations. In the evaluation, \method{} completes 10/10 clean board trials, 10/10 pick-and-place trials, and 4/5 pyramid stacking trials for both the flat and irregular initial-layout conditions; the corresponding mean task progress is $99.03\%$, $100.00\%$, and $96.67\%$ respectively. Across all evaluated conditions, \method{} achieves higher success rates than ReKep, Dream2Flow, and $\pi_{0.5}$ benchmarks, demonstrating the effectiveness of combining explicit object-state reasoning, compositional atomic actions, cost-based plan selection, and closed-loop execution verification.

Robotics (cs.RO)

arXiv:2609.05985 [cs.RO]

(or arXiv:2609.05985v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2609.05985 Focus to learn more arXiv-issued DOI via DataCite (pending registration)

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A Brain-inspired Hierarchical Framework for Zero-Shot Robot Task Reasoning and Execution

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