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Michigan State University
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Hallucinated objects and unexecutable actions in embodied planning don't require fine-tuning to fix: pairing a frozen VLM with inference-time symbolic masking and an HMM state lookahead guarantees feasible, grounded plans out of the box.
Meta-Ctrl cuts constrained decoding memory from over 107TB to under 2GB while achieving higher subgoal success rates than GPT-4.
