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

ArXi:2406.09953v4 Announce Type: replace-cross 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