arxivcs.RO2026-07-10
Implicit-Behavior Coordination from Unlabeled Sub-Task Demonstrations for Rearrangement Tasks
Ahmed Shokry, Usama Ahmed Siddiquie, Sicong Pan, Maren Bennewitz
Long-horizon robotic rearrangement tasks are often treated as skill sequencing problems, requiring predefined skills, skill labels, or boundaries, and task-specific switching logic. Although effective, such explicit skill abstractions can become difficult to scale as the number o…