Task and Motion Planning on TAMP Rearrangement Push Task 2, Length 7
0.7Success RateSTAP CEM
Evaluation results
| Method | Links | |
|---|---|---|
| STAP CEMRemark=PDDL + BFS2025.12 | 0.7 | |
| GSC (Original)Remark=Oracle task plan2025.12 | 0.64 | |
| CDGS (ours)Remark=No PDDL skill-level data only2025.12 | 0.48 | |
| LLM-T2MRemark=LM Prior + Prompting, n=112025.12 | 0.06 | |
| VLM-T2MRemark=LM Prior + Prompting, n=112025.12 | 0.02 | |
| Random CEMRemark=PDDL + BFS2025.12 | 0 | |
| GSC (no task plan)Remark=No PDDL skill-level data only2025.12 | 0 | |
| CDGS (w/o PR)Remark=No PDDL skill-level data only2025.12 | 0 |