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GraphPoint: Semantic Entity Graphs and Point Trajectories for Compositional Robot Manipulation

arXiv · AI, language, vision and robotics · article · Sep 16, 2026 · UTC

Robot manipulation policies often struggle to generalize beyond their demonstrations, even when new instructions involve familiar objects and behaviors. When language and scenes are strongly correlated during training, a policy can learn a fixed visual-action mapping rather than respond to the requested behavior. We investigate compositional reuse at two levels: within a subtask, combining familiar entities, action types, and action modifiers; and across subtasks, reusing learned subtasks in unseen long-horizon tasks. We introduce CoMani, a benchmark with controlled splits for evaluating both

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