SkillWeave: Weaving Heterogeneous Demonstrations into Long-Horizon Manipulation Skills
SkillWeave creates a framework that learns complex, long-horizon manipulation skills by combining two types of demonstrations: teleoperation for broad movement and kinesthetic teaching for precise contact skills. It solves visual mismatches during data collection using an object-mask-conditioned diffusion policy and uses successor-aware terminal steering to reliably chain these sub-task policies together, achieving a 27% average success rate on real tasks.