ManiSkillFormer: Demonstration-Free Compositional Manipulation via Geometric Contracts and Agentic Skill Graph

Abstract

Adapting robotic manipulation to new objects and tasks often requires additional demonstrations, policy fine-tuning, or manual engineering. Reusable manipulation skills can reduce this effort, but connecting their execution requirements to scene-specific geometry remains challenging. We present ManiSkillFormer, a framework for demonstration-free and compositional manipulation that connects perception and action through explicit geometric contracts. Building on reusable skill schemas, LLM agents generate contracts specifying the geometry primitives required by each skill, together with corresponding motion templates for semantic objects and task contexts. These contracts guide a perception module to ground task-relevant 3D geometry from observations, which is then used to instantiate reusable motion templates in a skill library. We evaluate ManiSkillFormer on a dual-arm robot across demonstration-free pick-and-place with 30 instances from 8 object categories, functional manipulation including unscrewing, pouring, pressing, and folding, and three long-horizon tasks. ManiSkillFormer achieves an average success rate of 88.97% for pick-and-place, 75.00% for functional manipulation, and completion rates of 50–80% across the long-horizon tasks, outperforming the evaluated baselines and two ablated pipelines. These results demonstrate the potential of explicit geometric contracts to support skill reuse and composition across objects and tasks without per-object policy fine-tuning or additional robot demonstrations.

BibTeX

@misc{yu2026maniskillformerdemonstrationfreecompositionalmanipulation,
  title = {ManiSkillFormer: Demonstration-Free Compositional
           Manipulation via Task-Conditioned Geometric Contracts},
  author = {Peiqi Yu and Mosam Dabhi and Shangtao Li and
            Bowei Li and Laszlo Jeni and Changliu Liu},
  year = {2026},
  eprint = {2609.16331},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2609.16331},
}