Author

Wenzhao Lian

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Preprint Aug 2026

Triplet2Track: A Hierarchical System with Object-Centric Representations for Reliable Long-Horizon Manipulation

The Triplet-to-Track System (TTS), a closed-loop long-horizon imitation learning system that uses human videos to reduce reliance on robot-collected data, achieves a 74.8\% average success rate and supports object-level and compositional generalization.

Jianxiang Liu, Gaojing Zhang, Chuan Wen et al. · 0 citations