Article

SPARK: Sequential Planning via Anchored Robotic Keypoints

The authors propose SPARK (Sequential Planning via Anchored Robotic Keypoints), which describes tasks as a symbolic behavior tree, anchoring to the current 3D observation only when each action is invoked; it verifies the plan at runtime and re-anchors objects on local failure, requesting a new plan only if this step fails.

Part of the event: SPARK: A Sequential Planning Method Anchored to Robot Keypoints

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