[Submitted on 28 Sep 2026]
Title:SAKI: Skill Assembly and Kinematic Imitation from Human Videos for Long-Horizon Mobile Manipulation
View a PDF of the paper titled SAKI: Skill Assembly and Kinematic Imitation from Human Videos for Long-Horizon Mobile Manipulation, by Yijie Lu and 2 other authors
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Abstract:Learning from human videos offers a promising route to acquiring diverse manipulation skills. Extending this capability beyond tabletop settings to long-horizon mobile manipulation requires adapting and composing demonstrated interactions across changing scenes and robot configurations. We present Skill Assembly and Kinematic Imitation (SAKI), a framework connecting human-video skill acquisition, cross-demonstration assembly and closed-loop whole-body execution. SAKI prepares reusable object-centric skills that preserve task-critical interactions while allowing transfer paths to adapt. Given a goal and supplied task dependencies, it selects and orders skills, binds their object roles to the current scene, and carries scene estimates and robot configuration between successive skills. Whole-body kinematic imitation generates coordinated base, arm and gripper motion. During execution, persistent object estimates maintain task references across viewpoint changes, while visual feedback updates remaining trajectories. Real-robot experiments demonstrate skill reuse across layouts and the composition of independently demonstrated interactions into continuous mobile tasks, including tidying and wiping. Ablation results show that task-conditioned reference preparation substantially improves long-horizon task completion with whole-body optimisation and visual feedback held fixed. Check this https URL for video demos!
Comments: 8 pages, 9 figures, 5 tables
Subjects:
Robotics (cs.RO)
Cite as: arXiv:2609.36031 [cs.RO]
(or arXiv:2609.36031v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2609.36031
arXiv-issued DOI via DataCite (pending registration)
Submission history
From: James Zhao [view email] [v1] Mon, 28 Sep 2026 18:03:46 UTC (36,606 KB)
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