DETACH: Cross-domain Learning for Long-Horizon Tasks via Mixture of Disentangled Experts

Abstract--Long-Horizon (LH) tasks in Human-Scene Interaction (HSI) are complex multi-step tasks that require continuous planning, sequential decision-making, and extended execution across domains to achieve the final goal. However, existing methods heavily rely on skill chaining by concatenating pre-trained subtasks, with environment observations and self-state tightly coupled, lacking the ability to generalize to new combinations of environments and skills, failing to complete various LH tasks across domains. T o solve this problem, this paper presents DET ACH, a cross-domain learning framework for LH tasks via biologically inspired dual-stream disentanglement. Inspired by the brain's "where-what" dual pathway mechanism, DET ACH comprises two core modules: i) an environment learning module for spatial understanding, which captures object functions, spatial relationships, and scene semantics, achieving cross-domain transfer through complete environment-self disentanglement; ii) a skill learning module for task execution, which processes self-state information including joint degrees of freedom and motor patterns, enabling cross-skill transfer through independent motor pattern encoding. We conducted extensive experiments on various LH tasks in HSI scenes. Compared with existing methods, DET ACH can achieve an average subtasks success rate improvement of 23% and average execution efficiency improvement of 29%. More details can be found at: https: //sites.google.com/view/detach-learning. I. INTRODUCTION Long-Horizon (LH) tasks in Human-Scene Interaction (HSI) require continuous planning and cross-domain execution, posing challenges due to their complexity and need for environmental adaptation. These tasks have broad applications in robotics [1], medical intervention [2], and smart homes [2], with canonical examples including dexterous hand manipulation [3] and humanoid whole-body control [4].