@article{himacondiscoveringhierarchicalmanipulati,
  title = {HiMaCon: Discovering Hierarchical Manipulation Concepts from Unlabeled Multi-Modal Data},
  author = {Ruizhe Liu and Pei Zhou and Qian Luo and Li Sun and Jun Cen and Yibing Song and Yanchao Yang},
  year = {2025},
  eprint = {2510.11321},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2510.11321},
}