Author

Andrea Protopapa

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Preprint Aug 2026

GORDON: Graph-based Object-centric Rewards for Decomposition of Long-Horizon Manipulation

This work proposes GORDON, a graph-based object-centric reward learning framework that learns dense rewards from action-free video demonstrations that improves reinforcement learning in short-horizon settings and enables successful policy learning in complex long-horizon tasks through automatic decomposition.

Andrea Protopapa, Davide Buoso, Francesca Pistilli et al. · 0 citations