Article

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

The authors propose a semantic-geometric graph task representation that jointly encodes object identities, inter-object semantic relations, and each object's motion history, consisting of an MPNN encoder and a Transformer decoder; the encoder processes only the temporal scene graph and produces structured representations decoupled from action labels.

Part of the event: New Task Representation for Dual-Arm Manipulation: Decoupled Encoder and Actions

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