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arXiv · 2610.12046

SkillWeave: Weaving Heterogeneous Demonstrations into Long-Horizon Manipulation Skills

Ryosei Tamura·Xiaoxiang Dong·Uksang Yoo·Yuemin Mao·Romina Mir·Jonathan Francis·Jeffrey Ichnowski
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Abstract

Dexterous manipulation requires both large-scale task progression and precise contact-rich interaction, making it challenging to collect demonstrations that effectively support both regimes. We present SkillWeave, a heterogeneous demonstration framework for long-horizon dexterous manipulation that combines teleoperation for coarse reaching and transport with kinesthetic teaching for precise, contact-rich skills. To address the visual mismatch introduced by the demonstrator's presence during kinesthetic data collection, we propose an object-mask-conditioned diffusion policy that uses offline object segmentation for training supervision and a lightweight learned mask predictor at deployment, avoiding online segmentation and image inpainting. To mitigate distribution shift between independently trained sub-task policies, we introduce successor-aware terminal steering, which selects among actions sampled from the predecessor policy to guide the system toward states supported by the successor's demonstrated initial-state distribution. Across three real-world long-horizon tasks, SkillWeave achieves 27% average end-to-end success. Mask-conditioned kinesthetic policies improve dexterous sub-task success to an average of 65%, while successor-aware handoffs achieve an average composition efficiency of 87%. These results show that matching demonstration modality to interaction regime, explicitly addressing kinesthetic visual mismatch, and steering policy handoffs toward successor-supported states substantially improves long-horizon dexterous manipulation. Videos and code are available at skillweave-authors.github.io .

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Ryosei Tamura, Xiaoxiang Dong, Uksang Yoo, Yuemin Mao, Romina Mir, Jonathan Francis, Jeffrey Ichnowski. 2026-10-08. SkillWeave: Weaving Heterogeneous Demonstrations into Long-Horizon Manipulation Skills. https://arxiv.org/abs/2610.12046

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