Zhu, Yijie, Rui Shao, Ziyang Liu, Jie He, Jizhihui Liu, Jiuru Wang, and Zitong Yu. 2026. “H-GAR: A Hierarchical Interaction Framework via Goal-Driven Observation-Action Refinement for Robotic Manipulation”. Proceedings of the AAAI Conference on Artificial Intelligence 40 (22):18882-90. https://doi.org/10.1609/aaai.v40i22.38958.