# SPARK: Sequential Planning via Anchored Robotic Keypoints

- Source: arXiv cs.RO
- Published: 2026-11-02T05:00:00.000Z
- RoboHot: https://robohot.news/en/items/x31mnolmybf5kfqe8lohaamnh
- Original: https://arxiv.org/abs/2606.30613

## Summary

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.