ACE: Agentic Control for Embodied Manipulation via Zero-shot Workflow Reasoning

arXiv:2607.04162v2 Announce Type: replace Abstract: General-purpose manipulation requires both semantic reasoning over task constraints and reliable execution of contact-rich actions. We present ACE, an agentic manipulation harness that composes a high-level language agent with a reusable mask-conditioned visuomotor policy. Given an open-ended instruction, the agent solves semantic constraints, binds objects to destination roles, and decomposes the task into executable transfers represented by tracked pick-and-place masks. Execution feedback supports outcome assessment, re-grounding, and retry, while persistent object and task context preserves earlier associations when manipulation changes visible cues. We evaluate ACE on two physical multi-step tabletop tasks, Semantic Formula Assembly and Constraint Retrieval. The visuomotor policy is trained only on generic pick-and-place demonstrations and reused without complete demonstrations of either evaluation task, enabling task-level zero-shot composition. Across 20 randomized trials per task, ACE achieves 70% and 80% success, respectively, compared with 55% and 70% without persistent context. These results suggest that an agentic harness can extend a primitive-trained manipulation policy to semantically distinct tasks through explicit object-destination interfaces and closed-loop execution feedback.

Abstract:General-purpose manipulation requires both semantic reasoning over task constraints and reliable execution of contact-rich actions. We present ACE, an agentic manipulation harness that composes a high-level language agent with a reusable mask-conditioned visuomotor policy. Given an open-ended instruction, the agent solves semantic constraints, binds objects to destination roles, and decomposes the task into executable transfers represented by tracked pick-and-place masks. Execution feedback supports outcome assessment, re-grounding, and retry, while persistent object and task context preserves earlier associations when manipulation changes visible cues. We evaluate ACE on two physical multi-step tabletop tasks, Semantic Formula Assembly and Constraint Retrieval. The visuomotor policy is trained only on generic pick-and-place demonstrations and reused without complete demonstrations of either evaluation task, enabling task-level zero-shot composition. Across 20 randomized trials per task, ACE achieves 70% and 80% success, respectively, compared with 55% and 70% without persistent context. These results suggest that an agentic harness can extend a primitive-trained manipulation policy to semantically distinct tasks through explicit object-destination interfaces and closed-loop execution feedback.

Robotics (cs.RO); Machine Learning (cs.LG)

arXiv:2607.04162 [cs.RO]

(or arXiv:2607.04162v2 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2607.04162 Focus to learn more arXiv-issued DOI via DataCite

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ACE: Agentic Control for Embodied Manipulation via Zero-shot Workflow Reasoning

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