SkillWeave: Weaving Heterogeneous Demonstrations into Long-Horizon Manipulation Skills

SkillWeave is a framework for long-horizon dexterous manipulation that combines teleoperation for coarse reaching and transport with kinesthetic teaching for precise, contact-rich skills. It addresses visual mismatches through an object-mask-conditioned diffusion policy and improves policy handoffs using successor-aware terminal steering. The method achieves 27% average end-to-end success across three real-world tasks, with kinesthetic policies improving sub-task success to 65% and successor-aware handoffs achieving 87% composition efficiency.