PERIA: Perceive, Reason, Imagine, Act via Holistic Language and Vision Planning for Manipulation - Ni, Fei; Hao, Jianye; Wu, Shiguang; Kou, Longxin; Yuan, Yifu; Dong, Zibin; Liu, Jinyi; Li, Mingzhi; Zhuang, Yuzheng; Zheng, Yan (Advances in Neural Information Processing Systems, 2024)