X-Planner: תכנון-אירועי לתכנון משימות לבעלי-תפקיד-מכונה

תקציר מקורי באנגליתarXiv:2609.25187v2 Announce Type: replace Abstract: Task planning bridges high-level instructions and executable behavior in long-horizon manipulation, yet modern Vision-Language-Action (VLA) systems often leave this intermediate structure implicit. Existing chain-of-thought (CoT) planners also tend to rely on coarse task-level annotations or serialize long reasoning traces token by token. We present X-Planner, a planning front-end that addresses both the supervision and representation of embodied reasoning. Our planning data combine Ego, UMI, and teleoperation under a hierarchy granularity with source-dependent annotation depth. Takeover-time annotations and human-designed failures supervise ongoing error recognition. On the model side, a shared VLM backbone exposes two event-structured p