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A Concept Expert module is constructed for VLA to build executable Analytic Concepts that represent objects as explicit, programmatic blueprints that provide explicit, high-quality guidance for VLA fine-tuning through dense, programmatic manipulation rewards and precise spatial guidance.
GRACE is pro-posed, an agent framework that adopts Executable Analytic Concepts (EAC) as a core knowledge annotation paradigm for object understanding and supports automated concept discovery, offering a scalable and modular solution for high-precision embodied intelligence.
This work proposes an analytic concept-centric memory framework for agentic embodied manipulation that improves task completion, retrieval accuracy, object re-identification, and cross-object skill generalization over unstructured and embedding-based memory baselines.
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