MUCO: A Mani-Unit-Structured Manipulation Framework for Compositional Long-Horizon Robot Tasks
From the abstract
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, and observable success and failure criteria.
From the abstract. Our summary is in progress.
The full text is not republished here because the paper's license does not allow it. Read the original on arXiv.