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Yiqing Xu

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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. · 0 citations