AINeutralarXiv – CS AI · 14h ago6/10
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ScheduleStream: Temporal Planning with Samplers for GPU-Accelerated Multi-Arm Task and Motion Planning & Scheduling
ScheduleStream introduces a GPU-accelerated framework for Task and Motion Planning & Scheduling (TAMPAS) that enables bimanual and humanoid robots to coordinate parallel arm movements efficiently. The system models temporal dynamics through hybrid durative actions and produces more optimized schedules than traditional TAMP algorithms that typically move one arm at a time.