PALM: Progress-Aware Policy Learning via Affordance Reasoning for Long-Horizon Robotic Manipulation

作者：Yuanzhe Liu, Jingyuan Zhu, Yuchen Mo, Gen Li, Xu Cao, Jin Jin, Yifan Shen, Zhengyuan Li, Tianjiao Yu, Wenzhen Yuan, Fangqiang Ding, Ismini Lourentzou · 单位：University of Pennsylvania, University of Illinois Urbana-Champaign, Nanyang Technological University, University of Oxford, Massachusetts Institute of Technology · 会议/期刊：CVPR 2026 · 日期：2026-01-11 · 来源：Low-Level Learning-Based Action Modelling / Input Modelling / 2D Vision Language Action Models for Generalization