Preprint
Aug 2026
SSC: A Verifiable Structured Representation for Bimanual Manipulation Labelling
Subtask labels decompose a long-horizon manipulation demonstration into shorter semantic segments for policy training and evaluation. Natural language descriptions are easy to read, but their linguistic variability makes automatic verification difficult. Rigid template formats, such as BEHAVIOR-1K's skill_annotation, a...
Yupu Lu, Shuang Wu, Si-Han Chen et al.
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