arXiv cs.AIPaper
SUN: Persistent Programs For Language-Grounded Control-to-Learning-to-Real Policies
This bridges a real gap: most systems either hand-craft rewards or lose task semantics during learning. The idea of single-source task definitions compiled to multiple downstream objectives is clean. For roboticists building contact-rich manipulation, this pattern merits testing, though the 9-task scope leaves questions about generalization.