SUN: Persistent Programs For Language-Grounded Control-to-Learning-to-Real Policies
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来源：arXiv cs.RO发布时间待核实
arXiv:2608.31167v1 Announce Type: new Abstract: Bridging model-based control and learned policies in long-horizon manipulation has harbored a silent disagreement: control executes specified objectives, learning amortizes that behavior into a reactive policy, yet existing protocols discard task semantics, leaving rewards hand-crafted and behavior drifting from what control verified.We introduce Semantically UNified (SUN) Programs, typed executables where geometric and contact relations are define…