SOURCE-LINKED INTELLIGENCE
CASD: Chunk-Aligned Semantic Distillation for Multi-StageRobot Manipulation
An action chunk can span several stages of a manipulation task, yet a label for its first step describes only the current stage. We introduce Chunk-Aligned Semantic Distillation (CASD), which derives semantic targets for entire action chunks. An offline vision--language model segments demonstrations into described stages. Their occupancy within each action chunk determines a weighted semantic target, including transitions between stages. A CASD generator learns to predict this target from the current observation, robot state, and task instruction. We then freeze the generator and train a polic
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Evidence & attribution
- arXiv · AI, language, vision and robotics · 2026-09-08T12:07:52.000Z
First collected: 2026-09-20T20:02:11.508Z. This is not the publication date.