arxivcs.RO2026-06-29
Sequential Planning via Anchored Robotic Keypoints
Bryce Grant, Aryeh Rothenberg, Logan Senning, Zonghe Chua, Zach Patterson, Peng Wang
We present Sequential Planning via Anchored Robotic Keypoints, SPARK, a training-free neurosymbolic manipulation system that reaches 43.7% on six LIBERO-PRO position \& task cells, more than doubling CaP-Agent0 and Vision-Language-Action (VLA) baselines. CaP-Agent0, a multi-turn…