Implicit-Behavior Coordination from Unlabeled Sub-Task Demonstrations for Rearrangement Tasks

Ahmed Shokry, Usama Ahmed Siddiquie, Sicong Pan, Maren Bennewitz

Long-horizon robotic rearrangement tasks are often treated as skill sequencing problems, requiring predefined skills, skill labels, or boundaries, and task-specific switching logic. Although effective, such explicit skill abstractions can become difficult to scale as the number of behaviors and the task horizon increase. We instead formulate rearrangement as implicit-behavior coordination from unlabeled sub-task demonstrations, where skill-like behaviors are learned directly from mixed behavior data and coordinated through value-guided action selection. Experiments in Habitat rearrangement tasks support this formulation in three ways. First, our method outperforms task-specific imitation baselines on more complex rearrangement tasks and approaches an oracle-planner baseline with behavior-cloned skills, while using no oracle task plan or skill-labeled full-task demonstrations. Second, ablations show that reliable critic-guided candidate selection is essential for coordinating multi-modal behaviors. Third, scaling experiments show that the method handles larger behavior repertoires and maintains stronger performance than task-specific imitation baselines as chained targets extend the horizon. These results suggest that explicit skill abstraction is not a prerequisite for long-horizon rearrangement, and that implicit-behavior coordination offers a promising data-driven alternative to explicit skill-based pipelines.