Decompose and Recompose decomposes seen robotic demonstrations into skill-action alignments and recomposes them via visual-semantic retrieval and planning to enable zero-shot cross-task generalization.
Llarva: Vision-action instruction tuning enhances robot learning.arXiv preprint arXiv:2406.11815
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Decompose and Recompose: Reasoning New Skills from Existing Abilities for Cross-Task Robotic Manipulation
Decompose and Recompose decomposes seen robotic demonstrations into skill-action alignments and recomposes them via visual-semantic retrieval and planning to enable zero-shot cross-task generalization.