LEARNING
RoboHarness：面向长时域规划的异构机器人策略记忆驱动编排框架
Jinbang Huang, Yuanzhao Hu, Zhiyuan Li, Ran Qi, Yixin Xiao, Zhanguang Zhang, Mark Coates, Tongtong Cao, Yingxue Zhang
- 发表年份
- 2026
- 访问权限
- 开放获取
摘要
RoboHarness提出一种统一框架，通过多模态执行记忆和在线证据表征异构策略的能力边界，实现长时域任务中策略的自主分解与路由。其Memory Bridge机制利用执行轨迹估计下一策略的分布内状态区域，引导机器人平滑过渡，避免联合策略重训练。
关键词
long-horizon planningheterogeneous policiesmemory-driven orchestrationcapability-aware routingpolicy handoff
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