GHOST: Hierarchical Sub-Goal Policies for Generalizing Robot Manipulation

• URL: http://arxiv.org/abs/2606.10025v1
• Date: Mon, 08 Jun 2026 18:08:01 GMT
• Title: GHOST: Hierarchical Sub-Goal Policies for Generalizing Robot Manipulation
• Abstract summary: We present a framework for learning visuomotor manipulation policies that generalize beyond the training distribution.<n>GHOST factorizes control into (i) a high-level policy that predicts the next sub-goal as a distribution over 3D end-effector poses from multi-view RGB-D observations.<n>Across a suite of tasks, this hierarchical factorization consistently improves performance and robustness compared to a flat Diffusion Policy.
• Score: 54.305781492241785
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: We present GHOST, a framework for learning visuomotor manipulation policies that generalize beyond the training distribution. GHOST factorizes control into (i) a high-level policy that predicts the next sub-goal as a distribution over 3D end-effector poses from multi-view RGB-D observations, and (ii) a low-level goal-conditioned controller that executes embodiment-specific actions. To condition image-based policies on 3D goals, we introduce a simple spatial interface that projects predicted goals into the image plane and represents them as end-effector heatmaps. Across a suite of manipulation tasks, this hierarchical factorization consistently improves performance and robustness compared to a flat Diffusion Policy. Further, we show that this hierarchical interface also makes it easy to incorporate human demonstrations without relying on (noisy) action retargeting. As sub-goals are largely embodiment-agnostic, we train the high-level policy on human video to specify how learned skills should be applied and composed, while keeping the low-level policy trained purely on robot data. This hierarchy enables adaptation to novel objects and task variations using a small number of human demonstrations.

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