arxiv.orgpaper

SeeQ: Training Generalist Value Functions for Long-Horizon Robotic Manipulation

SeeQ (Subtask-elicited Q-functions) trains generalist value functions for long-horizon robotic manipulation by learning Q-values for the currently active subtask rather than the whole task, shortening the value-prediction horizon for TD learning. The architecture is built on a vision-language backbone that autoregressively predicts the active subtask in natural language before estimating its value, removing the need for human subtask annotations or separate subtask-prediction modules at test time. It is pretrained on diverse open-source robot manipulation data and finetuned on four real-world tasks across two bimanual robot platforms, improving best-of-N policy steering.