arxivcs.RO2026-07-12
Dual-Process Atomic Skill Learning: Decoupling Semantic Reasoning and Real-Time Control
Jun Chen, Erdent Bao, Wenlong Dong, Jierui Liu, Qi Cai, Hao Wan, et al.
Language-conditioned Imitation Learning (IL) is essential for enabling robots to perform complex tasks following natural language instructions. However, generalizing to multi-step compositional tasks remains a significant challenge. While hierarchical approaches attempt to addres…