robotics
The Planner Destroyed the Token When the Order Broke
SAM-TD compiled temporal constraints into stream-based robot planning without fixing every geometric object in advance.
Summary
SAM-TD compiled temporal constraints into stream-based robot planning without fixing every geometric object in advance.
Stream-based task-and-motion planners generate poses, grasps and trajectories during search, which makes conventional temporal-logic compilation difficult. SAM-TD embeds automaton guards in action schemas and shares a validity token across automata so branches violating ordering, invariance or liveness requirements are pruned. The authors demonstrate the approach in three PDDLStream environments and report competitive discrete-benchmark performance; this is planner-level validation, not a real-world safety guarantee.
Why it matters
SAM-TD compiled temporal constraints into stream-based robot planning without fixing every geometric object in advance.
Limits and context
- The authors demonstrate the approach in three PDDLStream environments and report competitive discrete-benchmark performance; this is planner-level validation, not a real-world safety guarantee.
Key claims
SAM-TD compiled temporal constraints into stream-based robot planning without fixing every geometric object in advance.
Qualification: The authors demonstrate the approach in three PDDLStream environments and report competitive discrete-benchmark performance; this is planner-level validation, not a real-world safety guarantee.
Evidence: source-2026-08-21-007
Sources
- arXiv preprint 2608.19453arXiv · primary research
Corrections
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