arXiv:2601.11460v2 Announce Type: replace-cross Abstract: Learning structured task representations from human demonstrations is essential for bimanual manipulation, where action ordering, object involvement, and interaction geometry vary significantly across executions. A key challenge lies in jointly capturing the discrete semantic task structure and the temporal evolution of object-centric geometric relations in a form that supports reasoning over task progression. We introduce a semantic--geometric graph-based task representation that jointly encodes object identities, inter-object semantic
Source: arXiv cs.LG — read the full report at the original publisher.