Semantic-Geometric Task Representations for Bimanual Manipulation from Human Demonstrations to Robot Action Planning

arXiv:2601.11460 · cs.RO, cs.LG · Submitted 2026-01-16 · Read on arXiv

cs.RO, cs.LG

Submitted: 2026-01-16

Updated: 2026-10-26

Terminology

• Decoder — 4× in this paper · explained in 2 episodes
• Transformer — 2× in this paper · explained in 2 episodes
• Ablation — 1× in this paper · explained in 1 episode
• Decoupling — 1× in this paper · explained in 2 episodes
• Planner — 1× in this paper · explained in 3 episodes

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