arXiv (OAI Expanded)
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ManiSkillFormer: Demonstration-Free Compositional Manipulation via Geometric Contracts and Agentic Skill Graph
Adapting robotic manipulation to new objects and tasks often requires additional demonstrations or manual engineering. Reusable manipulation skills can reduce this effort, but adapting these skills to new scenes remains challenging. We present ManiSkillFormer, a framework for demonstration-free and
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