Compose by Focus: Scene Graph-based Atomic Skills

ArXi:2509.16053v2 Announce Type: replace-cross A key requirement for generalist robots is compositional generalization - the ability to combine atomic skills to solve complex, long-horizon tasks. While prior work has primarily focused on synthesizing a planner that sequences pre-learned skills, robust execution of the individual skills themselves remains challenging, as visuomotor policies often fail under distribution shifts induced by scene composition. To address this, we