Cortex: A Bidirectionally Aligned Embodied Agent Framework for Long-horizon Manipulation
While recent Vision-Language-Action (VLA) models show promise toward generalist manipulation policies, they struggle with long-horizon tasks due to their Markovian nature-relying solely on current observations. Hierarchical dual-system methods address this but suffer from a gap between high-level planning semantics and low-level execution kinematics. We introduce Cortex, a bidirectionally aligned embodied agent framework with a customized planning interface that conveys executable and tractable subtask plans from high-level VLM to low-level VLA. Specifically, we standardize manipulation subtas
