CarryOn: A Dual-Loop Harness for Personalized and Reliable Robot Assistance
- Published
- Source
- arXiv
- Paper number
- 1213
- Field
- Robotics
- arXiv ID
- 2610.21453
Key points
- The authors built CarryOn, a dual-loop harness that augments a frozen VLA policy.
- The planning loop maintains user-level and scene-level context and revises it through dialogue and observation to dispatch personalized subtasks.
- The execution loop filters actions against predicted hazardous contact as a proactive shield.
- After failure, reactive recovery skills restore task progress, and offline reflection refines the recovery skills.
- Across 900 LIBERO-Safety episodes it reduces the constraint-violation rate from 52.6% to 6.1%.
- Under a 12 cm object displacement, the pure VLA completes 26/200 episodes while reuse of refined skills raises this to 160/200.
Paper links
External research summaries. These are not HDATF publications or measured product results.