DAG-Plan's

DAG-Plan: Generating Directed Acyclic Dependency Graphs for Dual-Arm Cooperative Planning

arXiv:2406.09953v4 Announce Type: replace Abstract: Dual-arm robots promise greater efficiency but require planning for complex tasks with nonlinear sub-task dependencies. Current methods using Large Language Models (LLMs) suffer from a fundamental trade-off: generating linear sequences is efficient but fails to model parallelism and adapt to changes, while iterative querying is adaptive but too slow and costly. To bridge this gap, we introduce DAG-Plan, a novel task planning framework that...