ManiSkillFormer: Demonstration-Free Compositional Manipulation via Geometric Contracts and Agentic Skill Graph

arXiv:2609.16331 · cs.RO · Submitted 2026-09-14 · Read on arXiv

cs.RO

Submitted: 2026-09-14

Updated: 2026-09-22

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Grounding — 10× in this paper · explained in 3 episodes
• Ablation — 6× in this paper · explained in 1 episode
• Adaptation — 6× in this paper · explained in 1 episode
• Abstraction — 4× in this paper · explained in 1 episode
• Affordance — 4× in this paper · explained in 1 episode
• Generalization — 4× in this paper · explained in 13 episodes
• Conference on Robot Learning — 3× in this paper
• Alignment — 2× in this paper · explained in 1 episode
• Conference on Computer Vision and Pattern Recognition — 2× in this paper
• Fine-Tuning — 2× in this paper · explained in 5 episodes
• Ablation study — 1× in this paper · explained in 1 episode
• Foundation Model — 1× in this paper · explained in 3 episodes
• Foundation Models — 1× in this paper · explained in 7 episodes
• Modularity — 1× in this paper · explained in 9 episodes
• Motion Primitives — 1× in this paper · explained in 2 episodes
• Robustness — 1× in this paper · explained in 5 episodes
• Task Decomposition — 1× in this paper · explained in 2 episodes
• Task Planning — 1× in this paper · explained in 2 episodes
• Temporal Reasoning — 1× in this paper · explained in 2 episodes

Sources

• OpenVLA: An Open-Source Vision-Language-Action Model
• $\pi_0$: A Vision-Language-Action Flow Model for General Robot Control
• Do As I Can, Not As I Say: Grounding Language in Robotic Affordances
• MOSAIC: Skill-Centric Manipulation Planning with Physics Simulation
• NeSyPack: A Neuro-Symbolic Framework for Bimanual Logistics Packing
• GeoManip: Geometric Constraints as General Interfaces for Robot Manipulation

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