面向 TAMP 算子学习的宏算子生成与谓词选择

Original title: Macro-Operator Generation and Predicate Selection for TAMP Operator Learning

Source: arXiv cs.RO·2026-08-31 12:00Publish time unverified

arXiv:2608.23629v2 Announce Type: replace Abstract: Creating symbolic operators by hand is one of the main bottlenecks in deploying Task and Motion Planning systems (TAMP). Recent works show that these operators can instead be learned directly from demonstration data. Existing methods, however, typically learn each action in isolation and cannot capture the recurring multi-step structure of manipulation tasks, so the search becomes intractable on long sequential tasks.