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Gondola: Grounded Vision Language Planning for Generalizable Robotic Manipulation
Shizhe Chen, Ricardo Garcia, Paul Pacaud, Cordelia Schmid
https://arxiv.org/abs/2506.11261

Gondola: Grounded Vision Language Planning for Generalizable Robotic Manipulation
Robotic manipulation faces a significant challenge in generalizing across unseen objects, environments and tasks specified by diverse language instructions. To improve generalization capabilities, recent research has incorporated large language models (LLMs) for planning and action execution. While promising, these methods often fall short in generating grounded plans in visual environments. Although efforts have been made to perform visual instructional tuning on LLMs for robotic manipulation,…