@article{bibcite_561,
  author = {Jiaheng Hu and Mohit Shridhar and Cewu Lu and Dhruv Shah and Hao-Tien Chiang and Jie Tan and Annie Xie},
  title = {What Matters in Orchestrating Robot Policies: A Systematic Study of Hierarchical VLA Agents},
  year = {2026},
  journal = {arXiv preprint},
}