arXiv — cs.AI preprintsInternational9 October 2026
Unifying Policy Learning and State Prediction through Spatial Language Modeling
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arXiv:2610.12172v1 Announce Type: cross Abstract: Learning how actions change scene geometry can provide complementary supervision for goal-directed manipulation. We introduce Spatial Language Modeling, which represents scene contours, goals, action targets, and future states with a shared vocabulary of discrete coordinates and semantic tokens. A task-specific grammar organizes these elements into spatial sequences, allowing one autoregressive Transformer to learn action generation and action-conditioned state prediction through a common next-token objective. We train the model from scratch us
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