arxivcs.ROcs.AI2026-07-20
ConceptTree: Bringing Semantic Transparency to Black-Box Decision Making for Robotic Manipulation
Yongyan Wen, Feifan Liu, Jinyi Chen, Bo An, Peng Liu, Siyuan Li
Establishing interpretable decision-making processes in long-horizon robotic manipulation is critical for enabling reliable human oversight and intervention. However, existing approaches to robotic manipulation largely treat skill selection as opaque mappings from observations to…