الملخص
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Generative robot policies predict short action chunks but lack explicit long-horizon intent. Recent methods expose longer-horizon structure through language plans, subgoal images, or video forecasts, which are costly to generate and still need to be translated into robot motion. Predicting future robot motions avoids this translation, but a dense, time-indexed trajectory requires numerous parameters to cover the full remaining task, and over a short horizon it largely repeats the action chunk and adds little guidance for action generation. We propose Proprioceptive Action Models (PAM), which jointly generate a compact, timing-free sketch of the robot's remaining joint-space path and a dense executable action chunk within a single transformer denoiser. The sketch parameterizes the path by arc length rather than time, capturing geometric intent invariant to execution timing. Block-causal attention and a staggered denoising schedule maintain directed sketch-to-action dependence, ensuring the action tokens condition on a progressively cleaner sketch throughout sampling. In simulation, PAM improves over its action-only counterparts on Push-T and LIBERO-Long; on four real-world bimanual tasks, it raises success from 47.5% to 75.0%. Project page: https://nicehiro.github.io/pam_dp/
الكلمات المفتاحية
الموضوع
بيانات النشر
- المجلة
- غير متاح
- وصول مفتوح
- وصول مفتوح أخضر
اقتبس هذه المقالة
APA 7
Wang, F., Huang, S., Sun, H., Lyu, S., He, C., Duan, A., Zhou, P., & Navarro-Alarcon, D. (2026). الرسوم الإحساسية الذاتية كنية طويلة الأفق لسياسات الفعل التوليدية. https://omanscience.com/ar/articles/proprioceptive-sketches-as-long-horizon-intent-for-generative-action-policies
MLA 9
Wang, Fangyuan, et al. "الرسوم الإحساسية الذاتية كنية طويلة الأفق لسياسات الفعل التوليدية." https://omanscience.com/ar/articles/proprioceptive-sketches-as-long-horizon-intent-for-generative-action-policies.
شيكاغو (المؤلف–التاريخ)
Wang, Fangyuan, Songhao Huang, Haoxiang Sun, Shipeng Lyu, Chengyang He, Anqing Duan, Peng Zhou, and David Navarro-Alarcon. 2026. "الرسوم الإحساسية الذاتية كنية طويلة الأفق لسياسات الفعل التوليدية." https://omanscience.com/ar/articles/proprioceptive-sketches-as-long-horizon-intent-for-generative-action-policies.
هارفارد
Wang, F., Huang, S., Sun, H., Lyu, S., He, C., Duan, A., Zhou, P. and Navarro-Alarcon, D. (2026) 'الرسوم الإحساسية الذاتية كنية طويلة الأفق لسياسات الفعل التوليدية', Available at: https://omanscience.com/ar/articles/proprioceptive-sketches-as-long-horizon-intent-for-generative-action-policies.
فانكوفر
Wang F, Huang S, Sun H, Lyu S, He C, Duan A, et al. الرسوم الإحساسية الذاتية كنية طويلة الأفق لسياسات الفعل التوليدية. https://omanscience.com/ar/articles/proprioceptive-sketches-as-long-horizon-intent-for-generative-action-policies
IEEE
F. Wang, S. Huang, H. Sun, S. Lyu, C. He, A. Duan, P. Zhou, and D. Navarro-Alarcon, "الرسوم الإحساسية الذاتية كنية طويلة الأفق لسياسات الفعل التوليدية," https://omanscience.com/ar/articles/proprioceptive-sketches-as-long-horizon-intent-for-generative-action-policies.