Move-Then-Operate: Behavioral Phasing for Human-Like Robotic Manipulation

arXiv:2604.23620v1 Announce Type: new Abstract: We present Move-Then-Operate, a Vision language action framework that explicitly decouples robotic manipulation into two distinct behavioral phases: coarse relocation (move) and contact-critical interaction (operate). Unlike monolithic policies that conflate these heterogeneous regimes, our architecture employs a dual-expert policy routed by a learnable phase selector, introducing a structural inductive bias that isolates phase-specific dynamics. Phase labels are automatically generated via an MLLM-based pipeline conditioned on lightweight contextual cues such as end-effector velocity and subtask decomposition to ensure alignment with human motor patterns. Evaluated on the RoboTwin2 benchmark, our method achieves an average success rate of 68.9%, outperforming the monolithic pi_0 baseline by 24%. It matches or exceeds models trained on 10imes more data and reaches peak performance in 40% fewer training steps, demonstrating that architectural disentanglement of move and operate phases is a highly effective and efficient strategy for mastering high-precision manipulation.

Source: arXiv cs.RO | 2026-04-28