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Existing methods like the mixture of experts and skill chaining struggle with tasks where individual policies do not share significant commonly explored states or lack well-defined initial and terminal states between different phases. In this paper, we introduce a novel policy integration framework to enable the composition of drastically different motor skills in multi-phase long-horizon tasks with ill-defined intermediate states. Based on that, we further introduce a high-level soft router to enable seamless and robust transitions between the subtasks. We evaluate our framework on a set of fundamental basketball skills and challenging transitions. Policies trained by our approach can effectively control the simulated character to interact with the ball and accomplish the long-horizon task specified by real-time user commands, without relying on ball trajectory references.<\/jats:p>","DOI":"10.1145\/3763367","type":"journal-article","created":{"date-parts":[[2025,12,4]],"date-time":"2025-12-04T17:15:39Z","timestamp":1764868539000},"page":"1-14","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":1,"title":["Learning to Ball: Composing Policies for Long-Horizon Basketball Moves"],"prefix":"10.1145","volume":"44","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-7851-3971","authenticated-orcid":false,"given":"Pei","family":"Xu","sequence":"first","affiliation":[{"name":"Stanford University, Stanford, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0006-7800-9314","authenticated-orcid":false,"given":"Zhen","family":"Wu","sequence":"additional","affiliation":[{"name":"Stanford University, Stanford, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0005-8404-6405","authenticated-orcid":false,"given":"Ruocheng","family":"Wang","sequence":"additional","affiliation":[{"name":"Stanford University, Stanford, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0006-9809-9994","authenticated-orcid":false,"given":"Vishnu","family":"Sarukkai","sequence":"additional","affiliation":[{"name":"Stanford University, Stanford, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8754-0429","authenticated-orcid":false,"given":"Kayvon","family":"Fatahalian","sequence":"additional","affiliation":[{"name":"Stanford University, Stanford, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0000-4315-6556","authenticated-orcid":false,"given":"Ioannis","family":"Karamouzas","sequence":"additional","affiliation":[{"name":"University of California Riverside, Riverside, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7309-7013","authenticated-orcid":false,"given":"Victor","family":"Zordan","sequence":"additional","affiliation":[{"name":"Roblox, San Mateo, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5926-0905","authenticated-orcid":false,"given":"C. 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