AINeutralarXiv – CS AI · 7h ago6/10
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DAG-Plan: Generating Directed Acyclic Dependency Graphs for Dual-Arm Cooperative Planning
Researchers introduce DAG-Plan, a novel task planning framework for dual-arm robots that uses Directed Acyclic Graphs to represent complex task dependencies and enable parallel execution. By leveraging LLMs as a single semantic parser rather than iterative query system, the approach achieves 48% higher success rates and 84% better efficiency than existing methods on benchmark testing.