Thinking in Text and Images: Interleaved Vision--Language Reasoning Traces for Long-Horizon Robot Manipulation

arXiv:2605.00438v1 Announce Type: new Abstract: Long-horizon robotic manipulation requires plans that are both logically coherent and geometrically grounded. Existing Vision-Language-Action policies usually hide planning in latent states or expose only one modality: text-only chain-of-thought encodes causal order but misses spatial constraints, while visual prediction provides geometric cues but often remains local and semantically underconstrained. We introduce Interleaved Vision--Language Reas...