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cs.RO2025
RoboHiMan: A Hierarchical Evaluation Paradigm for Compositional Generalization in Long-Horizon Manipulation
Yangtao Chen, Zixuan Chen, Nga Teng Chan +6
Enabling robots to flexibly schedule and compose learned skills for novel long-horizon manipulation under diverse perturbations remains a core challenge. Early explorations with en…
cs.RO2025
DeCo: Task Decomposition and Skill Composition for Zero-Shot Generalization in Long-Horizon 3D Manipulation
Zixuan Chen, Junhui Yin, Yangtao Chen +6
Generalizing language-conditioned multi-task imitation learning (IL) models to novel long-horizon 3D manipulation tasks is challenging. To address this, we propose DeCo (Task Decom…
cs.RO2025
RoboHorizon: An LLM-Assisted Multi-View World Model for Long-Horizon Robotic Manipulation
Zixuan Chen, Jing Huo, Yangtao Chen +1
Efficient control in long-horizon robotic manipulation is challenging due to complex representation and policy learning requirements. Model-based visual reinforcement learning (RL)…