Robo-MLT: Dual-System Robotic Manipulation for Long-Horizon Medical Laboratory Tasks
- Published
- Source
- arXiv
- Paper number
- 1432
- Field
- Robotics
- arXiv ID
- 2611.13039
Key points
- The authors propose Robo-MLT, a dual-system framework that couples explicit workflow monitoring with learned action generation.
- System 2 tracks the active plan step with a lightweight multiframe monitor.
- System 1 executes the active skill with a Qwen3-VL-conditioned flow-matching policy.
- At the sample level, Robo-MLT achieves sample completion rates of 89.00% and 92.25% on blood gas analysis and tube sorting.
- With the workflow-level pathway, Robo-MLT reaches recovery rates of 90% and 85%, against 65% and 55% without the learned trigger.
- End-to-end control delay is 364 ms and the sustained control rate is 20 Hz.
Paper links
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