MUCO: A Mani-Unit-Structured Manipulation Framework for Compositional Long-Horizon Robot Tasks
Learning and executing long-horizon robot manipulation as complete task trajectories raises data-collection costs, lim?its capability reuse, and causes local failures to cascade into later task stages. We introduce manipulation units (MUs) as reusable operations, each defined by a local goal, an initi?ation condition,...
Xiang-Yi Wei, Han-Zhe Yao, Jing-Wen Shang et al.
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