Steerable Vision-Language-Action Policies for Embodied Reasoning and Hierarchical Control

2026-02-13

Technology Category

• Intelligent Robots: Behavior Learning & Control
• Computer Vision: Language and Vision
• Humans and AI: Human-Aware Planning and Behavior Prediction

Application Category

• Economics, Online Markets and Human Computation: LLM based quality controls for crowd work
• Responsible Web: Machine-in-the-loop, human agency and autonomy
• Search and Retrieval-Augmented AI: Web learning to rank, online learning, and counterfactual learning for ranking

Abstract

Pretrained vision-language models (VLMs) can make semantic and visual inferences across diverse settings, providing valuable common-sense priors for robotic control. However, effectively grounding this knowledge in robot behaviors remains an open challenge. Prior methods often employ a hierarchical approach where VLMs reason over high-level commands to be executed by separate low-level policies, e.g., vision-language-action models (VLAs). The interface between VLMs and VLAs is usually natural language task instructions, which fundamentally limits how much VLM reasoning can steer low-level behavior. We thus introduce Steerable Policies: VLAs trained on rich synthetic commands at various levels of abstraction, like subtasks, motions, and grounded pixel coordinates. By improving low-level controllability, Steerable Policies can unlock pretrained knowledge in VLMs, enabling improved task generalization. We demonstrate this benefit by controlling our Steerable Policies with both a learned high-level embodied reasoner and an off-the-shelf VLM prompted to reason over command abstractions via in-context learning. Across extensive real-world manipulation experiments, these two novel methods outperform prior embodied reasoning VLAs and VLM-based hierarchical baselines, including on challenging generalization and long-horizon tasks. Website: steerable-policies.github.io

Problem

• vision-language models
• embodied reasoning
• hierarchical control
• robotic manipulation
• task generalization

Innovation

• Steerable Policies
• Vision-Language-Action Models
• Embodied Reasoning
• Hierarchical Control
• In-Context Learning