Preprint
Jul 2026
APIVOT: Adaptive Planning with Interleaved Vision-Language Thoughts
This work proposes APIVOT, a VLM-based planner that adaptively interleaves language and visual thoughts for long-horizon planning that outperforms general-purpose VLMs and prior planning frameworks, achieving the largest gains in spatially constrained settings.
Emily Jin, Joy Hsu, Yiqing Xu et al.
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