Probabilistic Movement Primitives

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

arXiv:2601.11460v2 Announce Type: replace Abstract: Learning structured task representations from human demonstrations is essential for bimanual manipulation, where action ordering, object involvement, and interaction geometry vary significantly across executions. A key challenge lies in jointly capturing the discrete semantic task structure and the temporal evolution of object-centric geometric relations in a form that supports reasoning over task progression. We introduce a...