[2506.06683] RoboPARA: Dual-Arm Robot Planning with Parallel Allocation and Recomposition Across Tasks

Computer Science > Robotics arXiv:2506.06683 (cs) [Submitted on 7 Jun 2025 (v1), last revised 2 Mar 2026 (this version, v2)] Title:RoboPARA: Dual-Arm Robot Planning with Parallel Allocation and Recomposition Across Tasks Authors:Shiying Duan, Pei Ren, Nanxiang Jiang, Zhengping Che, Jian Tang, Zhaoxin Fan, Yifan Sun, Wenjun Wu View a PDF of the paper titled RoboPARA: Dual-Arm Robot Planning with Parallel Allocation and Recomposition Across Tasks, by Shiying Duan and 7 other authors View PDF HTML (experimental) Abstract:Dual-arm robots play a crucial role in improving efficiency and flexibility in complex multitasking this http URL existing methods have achieved promising results in task planning, they often fail to fully optimize task parallelism, limiting the potential of dual-arm this http URL address this issue, we propose RoboPARA, a novel large language model (LLM)-driven framework for dual-arm task parallelism this http URL employs a two-stage process: (1) Dependency Graph-based Planning Candidates Generation, which constructs directed acyclic graphs (DAGs) to model task dependencies and eliminate redundancy, and (2) Graph Re-Traversal-based Dual-Arm Parallel Planning, which optimizes DAG traversal to maximize parallelism while maintaining task this http URL addition, we introduce the Cross-Scenario Dual-Arm Parallel Task dataset (X-DAPT dataset), the first dataset specifically designed to evaluate dual-arm task parallelism across diverse scenarios and difficulty this...