arXiv:2601.11460v3 Announce Type: replace Abstract: Learning structured task representations from human demonstrations is essential for bimanual manipulation, where action ordering, object involvement, and interaction geometry vary significantly across executions. A key challenge lies in jointly capturing the discrete semantic task structure and the temporal evolution of object-centric geometric relations in a form that supports reasoning over task progression. We introduce a semantic-geometric graph-based task representation that jointly encodes object identities, inter-object semantic relations, and per-object motion histories, via a Message Passing Neural Network (MPNN) encoder and a Transformer-based decoder. The encoder operates solely on the temporal scene graph, producing structured representations decoupled from action labels. The decoder then conditions on action-context to forecast future actions, associated objects, and object motions. This decoupling learns task-agnostic representations, enabling encoder reuse across embodiments through decoder-only finetuning on a small robot dataset. Across eleven bimanual tasks from two datasets, we find that the benefit of structured semantic--geometric representations over simpler sequence-based models grows with task variability in action ordering and object involvement. At deployment, a planner couples the action and motion predictions with learned Probabilistic Movement Primitives, achieving full task success on two real-robot bimanual tasks and outperforming graph ablations, Transformer, decoder-only, and finetuned vision-language model baselines.