{"id":"https://openalex.org/W7160231882","doi":"https://doi.org/10.48550/arxiv.2605.01448","title":"Decompose and Recompose: Reasoning New Skills from Existing Abilities for Cross-Task Robotic Manipulation","display_name":"Decompose and Recompose: Reasoning New Skills from Existing Abilities for Cross-Task Robotic Manipulation","publication_year":2026,"publication_date":"2026-05-02","ids":{"openalex":"https://openalex.org/W7160231882","doi":"https://doi.org/10.48550/arxiv.2605.01448"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.01448","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.01448","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2605.01448","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5135375553","display_name":"Xitie Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Xitie","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066818276","display_name":"Aming Wu","orcid":"https://orcid.org/0000-0001-8426-0392"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wu, Aming","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5135375093","display_name":"Yahong Han","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Han, Yahong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9416000247001648,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9416000247001648,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.026799999177455902,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.013500000350177288,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.7613999843597412},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.623199999332428},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.511900007724762},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.5002999901771545},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4934000074863434},{"id":"https://openalex.org/keywords/automated-planning-and-scheduling","display_name":"Automated planning and scheduling","score":0.45590001344680786},{"id":"https://openalex.org/keywords/construct","display_name":"Construct (python library)","score":0.4487000107765198},{"id":"https://openalex.org/keywords/programming-by-demonstration","display_name":"Programming by demonstration","score":0.44589999318122864},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.4438999891281128}],"concepts":[{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.7613999843597412},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7196000218391418},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6489999890327454},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.623199999332428},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.511900007724762},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.5002999901771545},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4934000074863434},{"id":"https://openalex.org/C114073186","wikidata":"https://www.wikidata.org/wiki/Q2631895","display_name":"Automated planning and scheduling","level":2,"score":0.45590001344680786},{"id":"https://openalex.org/C2780801425","wikidata":"https://www.wikidata.org/wiki/Q5164392","display_name":"Construct (python library)","level":2,"score":0.4487000107765198},{"id":"https://openalex.org/C2779038628","wikidata":"https://www.wikidata.org/wiki/Q7248497","display_name":"Programming by demonstration","level":3,"score":0.44589999318122864},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.4438999891281128},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.43230000138282776},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.42320001125335693},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.3626999855041504},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.34779998660087585},{"id":"https://openalex.org/C195344581","wikidata":"https://www.wikidata.org/wiki/Q2555318","display_name":"Automated reasoning","level":2,"score":0.34769999980926514},{"id":"https://openalex.org/C37736160","wikidata":"https://www.wikidata.org/wiki/Q1801315","display_name":"Adversarial system","level":2,"score":0.33180001378059387},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.3292999863624573},{"id":"https://openalex.org/C2164484","wikidata":"https://www.wikidata.org/wiki/Q5170150","display_name":"Core (optical fiber)","level":2,"score":0.3158999979496002},{"id":"https://openalex.org/C89288958","wikidata":"https://www.wikidata.org/wiki/Q7301504","display_name":"Reasoning system","level":2,"score":0.3147999942302704},{"id":"https://openalex.org/C192327766","wikidata":"https://www.wikidata.org/wiki/Q1038799","display_name":"Cognitive robotics","level":3,"score":0.31290000677108765},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3000999987125397},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.29260000586509705},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.2897999882698059},{"id":"https://openalex.org/C43971567","wikidata":"https://www.wikidata.org/wiki/Q3142865","display_name":"Logical reasoning","level":2,"score":0.26499998569488525},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.2590000033378601},{"id":"https://openalex.org/C2777508537","wikidata":"https://www.wikidata.org/wiki/Q7936620","display_name":"Visual reasoning","level":2,"score":0.2517000138759613}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.01448","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.01448","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.01448","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.01448","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"score":0.406974196434021,"display_name":"Quality Education","id":"https://metadata.un.org/sdg/4"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Cross-task":[0],"generalization":[1,162],"is":[2],"a":[3,70,106,119,124],"core":[4],"challenge":[5],"in":[6,14],"open-world":[7],"robotic":[8],"manipulation,":[9],"and":[10,56,68,146,154],"the":[11,91,151],"key":[12],"lies":[13],"extracting":[15],"transferable":[16],"manipulation":[17],"knowledge":[18,55],"from":[19,118],"seen":[20,27,84],"tasks.":[21],"Recent":[22],"in-context":[23],"learning":[24],"approaches":[25],"leverage":[26],"task":[28],"demonstrations":[29,85,137],"to":[30,51,59,93,128],"generate":[31],"actions":[32],"for":[33,97,143],"unseen":[34,98],"tasks":[35,99],"without":[36],"parameter":[37],"updates.":[38],"However,":[39],"existing":[40],"methods":[41],"provide":[42],"only":[43],"low-level":[44],"continuous":[45],"action":[46],"sequences":[47,117],"as":[48,78],"context,":[49],"failing":[50],"capture":[52],"composable":[53],"skill":[54,71,116,131,144],"causing":[57],"models":[58],"degenerate":[60],"into":[61,86],"superficial":[62],"trajectory":[63],"imitation.":[64],"We":[65],"propose":[66],"Decompose":[67],"Recompose,":[69],"reasoning":[72,142],"framework":[73],"using":[74],"atomic":[75],"skill-action":[76],"pairs":[77],"intermediate":[79],"representations.":[80],"Our":[81],"approach":[82],"decomposes":[83],"interpretable":[87],"skill--action":[88],"alignments,":[89],"enabling":[90],"model":[92],"recompose":[94],"these":[95,134],"skills":[96],"through":[100],"compositional":[101,141],"reasoning.":[102],"Specifically,":[103],"we":[104],"construct":[105],"task-adaptive":[107],"dynamic":[108],"demonstration":[109],"library":[110,127],"via":[111],"visual-semantic":[112],"retrieval":[113],"combined":[114],"with":[115],"planning":[120],"agent,":[121],"complemented":[122],"by":[123],"coverage-aware":[125],"static":[126],"fill":[129],"missing":[130],"patterns.":[132],"Together,":[133],"yield":[135],"skill-comprehensive":[136],"that":[138],"explicitly":[139],"elicit":[140],"composition":[145],"execution":[147],"ordering.":[148],"Experiments":[149],"on":[150],"AGNOSTOS":[152],"benchmark":[153],"real-world":[155],"environments":[156],"validate":[157],"our":[158],"method's":[159],"zero-shot":[160],"cross-task":[161],"capability.":[163]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-05-06T00:00:00"}
