{"ID":6497753,"CreatedAt":"2026-07-13T01:19:40.13847098Z","UpdatedAt":"2026-07-14T01:36:59.12045529Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2607.09234","arxiv_id":"2607.09234","title":"Implicit-Behavior Coordination from Unlabeled Sub-Task Demonstrations for Rearrangement Tasks","abstract":"Long-horizon robotic rearrangement tasks are often treated as skill sequencing problems, requiring predefined skills, skill labels, or boundaries, and task-specific switching logic. Although effective, such explicit skill abstractions can become difficult to scale as the number of behaviors and the task horizon increase. We instead formulate rearrangement as implicit-behavior coordination from unlabeled sub-task demonstrations, where skill-like behaviors are learned directly from mixed behavior data and coordinated through value-guided action selection. Experiments in Habitat rearrangement tasks support this formulation in three ways. First, our method outperforms task-specific imitation baselines on more complex rearrangement tasks and approaches an oracle-planner baseline with behavior-cloned skills, while using no oracle task plan or skill-labeled full-task demonstrations. Second, ablations show that reliable critic-guided candidate selection is essential for coordinating multi-modal behaviors. Third, scaling experiments show that the method handles larger behavior repertoires and maintains stronger performance than task-specific imitation baselines as chained targets extend the horizon. These results suggest that explicit skill abstraction is not a prerequisite for long-horizon rearrangement, and that implicit-behavior coordination offers a promising data-driven alternative to explicit skill-based pipelines.","short_abstract":"Long-horizon robotic rearrangement tasks are often treated as skill sequencing problems, requiring predefined skills, skill labels, or boundaries, and task-specific switching logic. Although effective, such explicit skill abstractions can become difficult to scale as the number of behaviors and the task horizon increas...","url_abs":"https://arxiv.org/abs/2607.09234","url_pdf":"https://arxiv.org/pdf/2607.09234v1","authors":"[\"Ahmed Shokry\",\"Usama Ahmed Siddiquie\",\"Sicong Pan\",\"Maren Bennewitz\"]","published":"2026-07-10T09:26:38Z","proceeding":"cs.RO","tasks":"[\"cs.RO\"]","methods":"[]","has_code":false}