@article{whatmattersinorchestratingrobotpoliciesa,
  title = {What Matters in Orchestrating Robot Policies: A Systematic Study of Hierarchical VLA Agents},
  author = {Jiaheng Hu and Mohit Shridhar and Caden Lu and Dhruv Shah and Hao-Tien Lewis Chiang and Jie Tan and Annie Xie},
  year = {2026},
  eprint = {2606.10267},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2606.10267},
}