{"id":"https://openalex.org/W7159624093","doi":"https://doi.org/10.48550/arxiv.2604.27472","title":"PRTS: A Primitive Reasoning and Tasking System via Contrastive Representations","display_name":"PRTS: A Primitive Reasoning and Tasking System via Contrastive Representations","publication_year":2026,"publication_date":"2026-04-30","ids":{"openalex":"https://openalex.org/W7159624093","doi":"https://doi.org/10.48550/arxiv.2604.27472"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2604.27472","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.27472","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2604.27472","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5134941512","display_name":"Yang Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Yang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134974180","display_name":"Jiangyuan Zhao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhao, Jiangyuan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134959867","display_name":"Chenyou Fan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fan, Chenyou","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134960206","display_name":"Fangzheng Yan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yan, Fangzheng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134988717","display_name":"Tian Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Tian","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112748970","display_name":"Haitong Tang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tang, Haitong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134933231","display_name":"Sen Fu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fu, Sen","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134985415","display_name":"Xuan'er Wu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wu, Xuan'er","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134987934","display_name":"Qizhen Weng","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Weng, Qizhen","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134957553","display_name":"Weinan Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Weinan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134954895","display_name":"Xiu Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Xiu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134954216","display_name":"Chi Zhang (9857)","orcid":"https://orcid.org/0000-0001-9154-596X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Chi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134941745","display_name":"Chenjia Bai","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bai, Chenjia","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5134968994","display_name":"Xuelong Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Xuelong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.7681000232696533,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.7681000232696533,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.06710000336170197,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.04670000076293945,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7141000032424927},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5633000135421753},{"id":"https://openalex.org/keywords/bridging","display_name":"Bridging (networking)","score":0.5101000070571899},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.48019999265670776},{"id":"https://openalex.org/keywords/embedding","display_name":"Embedding","score":0.46639999747276306},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.46140000224113464},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.4180999994277954},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.3865000009536743},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.3716000020503998},{"id":"https://openalex.org/keywords/language-model","display_name":"Language model","score":0.3619000017642975}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7692999839782715},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7141000032424927},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6345999836921692},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5633000135421753},{"id":"https://openalex.org/C174348530","wikidata":"https://www.wikidata.org/wiki/Q188635","display_name":"Bridging (networking)","level":2,"score":0.5101000070571899},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.48019999265670776},{"id":"https://openalex.org/C41608201","wikidata":"https://www.wikidata.org/wiki/Q980509","display_name":"Embedding","level":2,"score":0.46639999747276306},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.46140000224113464},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.4180999994277954},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.3865000009536743},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3785000145435333},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.3716000020503998},{"id":"https://openalex.org/C137293760","wikidata":"https://www.wikidata.org/wiki/Q3621696","display_name":"Language model","level":2,"score":0.3619000017642975},{"id":"https://openalex.org/C84653758","wikidata":"https://www.wikidata.org/wiki/Q5575175","display_name":"Goal orientation","level":2,"score":0.351500004529953},{"id":"https://openalex.org/C204321447","wikidata":"https://www.wikidata.org/wiki/Q30642","display_name":"Natural language processing","level":1,"score":0.3440000116825104},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3244999945163727},{"id":"https://openalex.org/C2776544517","wikidata":"https://www.wikidata.org/wiki/Q189447","display_name":"Unexpected events","level":2,"score":0.3215999901294708},{"id":"https://openalex.org/C125411270","wikidata":"https://www.wikidata.org/wiki/Q18653","display_name":"Encoding (memory)","level":2,"score":0.3179999887943268},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.3167000114917755},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3100000023841858},{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.30869999527931213},{"id":"https://openalex.org/C79581498","wikidata":"https://www.wikidata.org/wiki/Q1367530","display_name":"Suite","level":2,"score":0.3010999858379364},{"id":"https://openalex.org/C136643341","wikidata":"https://www.wikidata.org/wiki/Q1361526","display_name":"Reachability","level":2,"score":0.2865999937057495},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2685999870300293},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.26579999923706055},{"id":"https://openalex.org/C2779960059","wikidata":"https://www.wikidata.org/wiki/Q7113681","display_name":"Overhead (engineering)","level":2,"score":0.26440000534057617},{"id":"https://openalex.org/C197914299","wikidata":"https://www.wikidata.org/wiki/Q18650","display_name":"Semantic memory","level":3,"score":0.26350000500679016},{"id":"https://openalex.org/C193702766","wikidata":"https://www.wikidata.org/wiki/Q1414548","display_name":"Concurrency","level":2,"score":0.262800008058548},{"id":"https://openalex.org/C2780938662","wikidata":"https://www.wikidata.org/wiki/Q973710","display_name":"Tying","level":2,"score":0.260699987411499},{"id":"https://openalex.org/C75553542","wikidata":"https://www.wikidata.org/wiki/Q178161","display_name":"A priori and a posteriori","level":2,"score":0.2572000026702881},{"id":"https://openalex.org/C100660578","wikidata":"https://www.wikidata.org/wiki/Q18733","display_name":"Recall","level":2,"score":0.2565000057220459},{"id":"https://openalex.org/C2780069185","wikidata":"https://www.wikidata.org/wiki/Q7977945","display_name":"Equivalence (formal languages)","level":2,"score":0.25540000200271606}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2604.27472","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.27472","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2604.27472","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.27472","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Vision-Language-Action":[0],"(VLA)":[1],"models":[2],"advance":[3],"robotic":[4,216],"control":[5],"via":[6,126],"strong":[7],"visual-linguistic":[8],"priors.":[9],"However,":[10],"existing":[11],"VLAs":[12],"predominantly":[13],"frame":[14],"pretraining":[15,51],"as":[16,27,60],"supervised":[17],"behavior":[18,136],"cloning,":[19],"overlooking":[20],"the":[21,74,83,87,91,95,123,141],"fundamental":[22],"nature":[23],"of":[24,77,89,167,186,214],"robot":[25],"learning":[26],"a":[28,45,69,127,183],"goal-reaching":[29],"process":[30],"that":[31,49,202],"requires":[32],"understanding":[33],"temporal":[34,154],"task":[35,155],"progress.":[36],"We":[37],"present":[38],"\\textbf{PRTS}":[39],"(\\textbf{P}rimitive":[40],"\\textbf{R}easoning":[41],"and":[42,62,79,119,153,157,170,182,197,211],"\\textbf{T}asking":[43],"\\textbf{S}ystem),":[44],"VLA":[46],"foundation":[47,217],"model":[48],"reformulates":[50],"through":[52],"Goal-Conditioned":[53],"Reinforcement":[54],"Learning.":[55],"By":[56],"treating":[57],"language":[58],"instructions":[59],"goals":[61],"employing":[63],"contrastive":[64],"reinforcement":[65],"learning,":[66],"PRTS":[67,106,173],"learns":[68],"unified":[70],"embedding":[71],"space":[72],"where":[73],"inner":[75],"product":[76],"state-action":[78],"goal":[80,85,93,147],"embeddings":[81],"approximates":[82],"log-discounted":[84],"occupancy,":[86],"probability":[88],"reaching":[90],"language-specified":[92],"from":[94,113],"current":[96],"state-action,":[97],"quantitatively":[98],"assessing":[99],"physical":[100],"feasibility":[101],"beyond":[102],"static":[103],"semantic":[104,151],"matching.":[105],"draws":[107],"this":[108],"dense":[109],"goal-reachability":[110,204],"supervision":[111],"directly":[112],"offline":[114],"trajectories":[115],"without":[116],"reward":[117],"annotations,":[118],"folds":[120],"it":[121],"into":[122],"VLM":[124],"backbone":[125],"role-aware":[128],"causal":[129],"mask,":[130],"incurring":[131],"negligible":[132],"overhead":[133],"over":[134],"vanilla":[135],"cloning.":[137],"This":[138],"paradigm":[139],"endows":[140],"high-level":[142],"reasoning":[143,152],"system":[144],"with":[145,190],"intrinsic":[146],"reachability":[148],"awareness,":[149],"bridging":[150],"progress,":[156],"further":[158],"benefits":[159],"goal-conditioned":[160],"action":[161],"prediction.":[162],"Pretrained":[163],"on":[164,177,194],"167B":[165],"tokens":[166],"diverse":[168],"manipulation":[169],"embodied-reasoning":[171],"data,":[172],"reaches":[174],"state-of-the-art":[175],"performance":[176],"LIBERO,":[178],"LIBERO-Pro,":[179],"LIBERO-Plus,":[180],"SimplerEnv,":[181],"real-world":[184],"suite":[185],"14":[187],"complex":[188],"tasks,":[189],"particularly":[191],"substantial":[192],"gains":[193],"long-horizon,":[195],"contact-rich,":[196],"zero-shot":[198],"novel-instruction":[199],"settings,":[200],"confirming":[201],"injecting":[203],"awareness":[205],"significantly":[206],"improves":[207],"both":[208],"execution":[209],"success":[210],"long-horizon":[212],"planning":[213],"general-purpose":[215],"policies.":[218]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-05-02T00:00:00"}