ACE: שליטה אגנטית לאימות גופני דרך תהליך סיבות חסר-הכרעה

תקציר מקורי באנגליתarXiv:2607.04162v2 Announce Type: replace-cross 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 Asse