Attacca: Goal-Directed Control under State Continuity for Long-Horizon Embodied Agents

תקציר מקורי באנגליתarXiv:2610.07785v1 Announce Type: new Abstract: A central capability of embodied agents is to accomplish complex objectives through sequences of interdependent tasks. Yet existing visual goal-conditioned policies underlying these agents are typically evaluated on isolated interactions where the target is already visible, and thus do not capture the conditions that arise during continuous long-horizon task execution. In such settings, each task begins from the state left by the previous one: the agent may end at a different position and orientation, the world may have been modified, and the next interaction target may lie outside the current field of view. As a result, agents relying on such policies may struggle to proceed to the next task when they cannot ground their target in the curren