Author

Johannes Heidersberger

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Jul 2026

Learning Forward & Reverse Skills from a Single Unfinished Demonstration for Constrained Manipulation Tasks

A unified one-shot framework for constrained manipulation that learns both forward and reverse execution from a single, possibly unfinished demonstration, enabling task completion beyond the demonstrated trajectory length as well as reverse skill execution without additional learning data.

Yexin Hu, Haoyi Zheng, Johannes Heidersberger et al. · arXiv.org · 0 citations