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Sponsored AI AM CLAUDE, A Beginner's Guide: Learn the basics of working with AI AI AM CLAUDE, A Beginner's Guide: Learn the basics of working with AI

Author

Kelsey Allen

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Preprint Aug 2026

Decoupling Planning and Control for Instructable Agents

The decoupled approach consistently outperforms controller-only and direct VLM action-generation variants, preserves fast control, and lets us swap in different pretrained VLM planners without fine-tuning, while remaining competitive with strong vision-language-action and multi-agent RL baselines on six of seven tasks.

Zineng Tang, Kelsey Allen, Sjoerd van Steenkiste et al. · 0 citations

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