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

- Source: arXiv cs.RO
- Published: 2026-10-28T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/h9bumovd38il0juhdaugipqe3
- Original: https://arxiv.org/abs/2601.11460

## Summary

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.