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[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 View PDF HTML (experimental) 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) Full-text links: Access Paper: 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 View PDF HTML (experimental) TeX Source view license Current browse context: cs.RO new | recent | 2026-09 Change to browse by: cs References & Citations NASA ADS Google Scholar Semantic Scholar Loading... Data provided by: Bibliographic Tools Bibliographic and Citation Tools Bibliographic Explorer Toggle Bibliographic Explorer (What is the Explorer?) Connected Papers Toggle Connected Papers (What is Connected Papers?) Litmaps Toggle Litmaps (What is Litmaps?) scite.ai Toggle scite Smart Citations (What are Smart Citations?) Code, Data, Media Code, Data and Media Associated with this Article alphaXiv Toggle alphaXiv (What is alphaXiv?) Links to Code Toggle CatalyzeX Code Finder for Papers (What is CatalyzeX?) DagsHub Toggle DagsHub (What is DagsHub?) GotitPub Toggle Gotit.pub (What is GotitPub?) Huggingface Toggle Hugging Face (What is Huggingface?) ScienceCast Toggle ScienceCast (What is ScienceCast?) Demos Demos Replicate Toggle Replicate (What is Replicate?) Spaces Toggle Hugging Face Spaces (What is Spaces?) Spaces Toggle TXYZ.AI (What is TXYZ.AI?) Related Papers Recommenders and Search Tools Link to Influence Flower Influence Flower (What are Influence Flowers?) Core recommender toggle CORE Recommender (What is CORE?) Author Venue Institution Topic About arXivLabs arXivLabs: experimental projects with community collaborators arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs. Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)