{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,13]],"date-time":"2026-03-13T21:16:59Z","timestamp":1773436619064,"version":"3.50.1"},"reference-count":45,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"4","license":[{"start":{"date-parts":[[2026,4,1]],"date-time":"2026-04-01T00:00:00Z","timestamp":1775001600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2026,4,1]],"date-time":"2026-04-01T00:00:00Z","timestamp":1775001600000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2026,4,1]],"date-time":"2026-04-01T00:00:00Z","timestamp":1775001600000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"name":"New Generation Artificial Intelligence-National Science and Technology Major Project","award":["2025ZD0122904"],"award-info":[{"award-number":["2025ZD0122904"]}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"crossref","award":["62192783"],"award-info":[{"award-number":["62192783"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"crossref"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"crossref","award":["62276128"],"award-info":[{"award-number":["62276128"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"crossref"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"crossref","award":["62506153"],"award-info":[{"award-number":["62506153"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"crossref"}]},{"name":"Jiangsu Science and Technology Major Project","award":["BG2025035"],"award-info":[{"award-number":["BG2025035"]}]},{"DOI":"10.13039\/501100012226","name":"Fundamental Research Funds for the Central Universities","doi-asserted-by":"crossref","award":["KG202514"],"award-info":[{"award-number":["KG202514"]}],"id":[{"id":"10.13039\/501100012226","id-type":"DOI","asserted-by":"crossref"}]},{"name":"Collaborative Innovation Center of Novel Software Technology and Industrialization"},{"name":"Practice Innovation Program of Jiangsu Province","award":["KYCX25_0317"],"award-info":[{"award-number":["KYCX25_0317"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Robot. Autom. Lett."],"published-print":{"date-parts":[[2026,4]]},"DOI":"10.1109\/lra.2026.3666363","type":"journal-article","created":{"date-parts":[[2026,2,19]],"date-time":"2026-02-19T21:00:02Z","timestamp":1771534802000},"page":"5049-5056","source":"Crossref","is-referenced-by-count":0,"title":["DeCo: Task Decomposition and Skill Composition for Zero-Shot Generalization in Long-Horizon 3D Manipulation"],"prefix":"10.1109","volume":"11","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-9744-1157","authenticated-orcid":false,"given":"Zixuan","family":"Chen","sequence":"first","affiliation":[{"name":"State Key Laboratory for Novel Software Technology, Nanjing University, Nanjing, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Junhui","family":"Yin","sequence":"additional","affiliation":[{"name":"State Key Laboratory for Novel Software Technology, Nanjing University, Nanjing, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yangtao","family":"Chen","sequence":"additional","affiliation":[{"name":"State Key Laboratory for Novel Software Technology, Nanjing University, Nanjing, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8504-455X","authenticated-orcid":false,"given":"Jing","family":"Huo","sequence":"additional","affiliation":[{"name":"State Key Laboratory for Novel Software Technology, Nanjing University, Nanjing, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5472-2469","authenticated-orcid":false,"given":"Pinzhuo","family":"Tian","sequence":"additional","affiliation":[{"name":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1223-191X","authenticated-orcid":false,"given":"Jieqi","family":"Shi","sequence":"additional","affiliation":[{"name":"State Key Laboratory for Novel Software Technology, Nanjing University, Nanjing, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0009-0003-0270-0481","authenticated-orcid":false,"given":"Yiwen","family":"Hou","sequence":"additional","affiliation":[{"name":"School of Computing, National University of Singapore, Singapore"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4263-5130","authenticated-orcid":false,"given":"Yinchuan","family":"Li","sequence":"additional","affiliation":[{"name":"Huawei Noah&#x2019;s Ark Lab (AI Lab), Beijing, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2488-1813","authenticated-orcid":false,"given":"Yang","family":"Gao","sequence":"additional","affiliation":[{"name":"State Key Laboratory for Novel Software Technology, Nanjing University, Nanjing, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"263","reference":[{"key":"ref1","first-page":"785","article-title":"Perceiver-actor: A multi-task transformer for robotic manipulation","volume-title":"Proc. Conf. Robot Learn.","author":"Shridhar","year":"2023"},{"key":"ref2","first-page":"694","article-title":"RVT: Robotic view transformer for 3D object manipulation","volume-title":"Proc. Conf. Robot Learn.","author":"Goyal","year":"2023"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.15607\/rss.2024.xx.055"},{"key":"ref4","first-page":"12427","article-title":"Rethinking bimanual robotic manipulation: Learning with decoupled interaction framework","volume-title":"Proc. Int. Conf. Comput. Vis.","author":"Jiang","year":"2025"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2025.3550849"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA55743.2025.11127315"},{"key":"ref7","first-page":"1402","article-title":"Policy adaptation via language optimization: Decomposing tasks for few-shot imitation","volume-title":"Proc. 8th Conf. Robot Learn.","author":"Myers","year":"2025"},{"key":"ref8","first-page":"1362","article-title":"Trust the PROC3S: Solving long-horizon robotics problems with LLMs and constraint satisfaction","volume-title":"Proc. 8th Conf. Robot Learn.","author":"Curtis","year":"2025"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48891.2023.10160591"},{"key":"ref10","article-title":"RoboHorizon: An LLM-assisted multi-view world model for long-horizon robotic manipulation","author":"Chen","year":"2025"},{"key":"ref11","article-title":"ReKep: Spatio-temporal reasoning of relational keypoint constraints for robotic manipulation","volume-title":"Proc. 8th Conf. Robot Learn.","author":"Huang","year":"2024"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2025.3595034"},{"key":"ref13","article-title":"VoxPoser: Composable 3D value maps for robotic manipulation with language models","author":"Huang","year":"2023"},{"key":"ref14","article-title":"GravMAD: Grounded spatial value maps guided action diffusion for generalized 3D manipulation","volume-title":"Proc. 13th Int. Conf. Learn. Representations","author":"Chen","year":"2025"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.52202\/079017-3547"},{"key":"ref16","first-page":"1","article-title":"Sequential dexterity: Chaining dexterous policies for long-horizon manipulation","volume-title":"Proc. 7th Conf. Robot Learn.","author":"Chen","year":"2023"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA57147.2024.10611448"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48891.2023.10161046"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.2974707"},{"key":"ref20","first-page":"1949","article-title":"3D diffuser actor: Policy diffusion with 3D scene representations","volume-title":"Proc. 8th Conf. Robot Learn.","author":"Ke","year":"2025"},{"key":"ref21","article-title":"An image is worth 16x16 words: Transformers for image recognition at scale","volume-title":"Proc. Int. Conf. Learn. Representations","author":"Dosovitskiy","year":"2021"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA46639.2022.9811703"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2023.XIX.026"},{"key":"ref24","first-page":"726","article-title":"Transporter networks: Rearranging the visual world for robotic manipulation","volume-title":"Proc. Conf. Robot Learn.","author":"Zeng","year":"2021"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2023.XIX.025"},{"key":"ref26","first-page":"894","article-title":"CLIPort: What and where pathways for robotic manipulation","volume-title":"Proc. Conf. Robot Learn.","author":"Shridhar","year":"2022"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.65109\/wpff3596"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.65109\/DCHA8908"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52688.2022.01337"},{"key":"ref30","first-page":"175","article-title":"Instruction-driven history-aware policies for robotic manipulations","volume-title":"Proc. Conf. Robot Learn.","author":"Guhur","year":"2023"},{"key":"ref31","first-page":"3949","article-title":"Act3D: Infinite resolution action detection transformer for robotic manipulation","volume-title":"Proc. 7th Conf. Robot Learn.","author":"Gervet","year":"2023"},{"key":"ref32","first-page":"2323","article-title":"ChainedDiffuser: Unifying trajectory diffusion and keypose prediction for robotic manipulation","volume-title":"Proc. 7th Annu. Conf. Robot Learn.","volume":"229","author":"Xian","year":"2023"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2024.3443610"},{"key":"ref34","first-page":"2905","article-title":"Generative skill chaining: Long-horizon skill planning with diffusion models","volume-title":"Proc. Conf. Robot Learn.","author":"Mishra","year":"2023"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48891.2023.10160220"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2024.3354620"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA57147.2024.10611275"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA57147.2024.10611125"},{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2023.3265893"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2023.3308061"},{"key":"ref41","article-title":"ManiLong-Shot: Interaction-aware one-shot imitation learning for long-horizon manipulation","volume-title":"Proc. AAAI Conf. Artif. Intell.","author":"Chen","year":"2026"},{"key":"ref42","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA55743.2025.11127935"},{"key":"ref43","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3140817"},{"key":"ref44","article-title":"GPT-4O system card","author":"Hurst","year":"2024"},{"key":"ref45","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5980479"}],"container-title":["IEEE Robotics and Automation Letters"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx8\/7083369\/11400564\/11399854.pdf?arnumber=11399854","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,3,13]],"date-time":"2026-03-13T19:55:24Z","timestamp":1773431724000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/11399854\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,4]]},"references-count":45,"journal-issue":{"issue":"4"},"URL":"https:\/\/doi.org\/10.1109\/lra.2026.3666363","relation":{},"ISSN":["2377-3766","2377-3774"],"issn-type":[{"value":"2377-3766","type":"electronic"},{"value":"2377-3774","type":"electronic"}],"subject":[],"published":{"date-parts":[[2026,4]]}}}