robotics
The Manipulation Skill Declared Its Geometry First
Without new demonstrations, geometric contracts reached 88.24% pick-and-place and 75.00% average functional-task success.
Summary
Without new demonstrations, geometric contracts reached 88.24% pick-and-place and 75.00% average functional-task success.
ManiSkillFormer replaces an end-to-end visuomotor policy with task-conditioned geometric contracts. Each skill declares the object keypoints, surface normals and other primitives perception must find; language-model agents generate contracts and motion templates inside human-defined skill structures. On a dual-arm robot, the authors report 88.24% zero-shot pick-and-place across eight object categories and 30 instances, 75.00% average success on unscrewing, pouring, pressing and folding, and 50% to 80% completion on three long-horizon tasks. The results are confined to the reported platform and skill library.
Why it matters
Without new demonstrations, geometric contracts reached 88.24% pick-and-place and 75.00% average functional-task success.
Limits and context
No additional limitation was separately recorded.
Key claims
Without new demonstrations, geometric contracts reached 88.24% pick-and-place and 75.00% average functional-task success.
Evidence: source-2026-09-16-014
Sources
- arXiv preprint 2609.16331arXiv · primary research
Corrections
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