Task and Motion Planning on TAMP Hook Reach Task 2 Length 5
80Success RateGSC (Original)
Evaluation results
| Method | Links | |
|---|---|---|
| GSC (Original)Remark=Oracle task plan2025.12 | 80 | |
| STAP CEMRemark=PDDL + BFS2025.12 | 70 | |
| CDGS (ours)Remark=No PDDL skill-level data only2025.12 | 58 | |
| LLM-T2MRemark=LM Prior + Prompting, n=112025.12 | 48 | |
| VLM-T2MRemark=LM Prior + Prompting, n=112025.12 | 42 | |
| CDGS (w/o PR)Remark=No PDDL skill-level data only2025.12 | 12 | |
| Random CEMRemark=PDDL + BFS2025.12 | 10 | |
| GSC (no task plan)Remark=No PDDL skill-level data only2025.12 | 4 |