Building long-horizon robot agents requires composing closed-loop pipelines -- perception, belief update, planning, and control -- whose components run at different clocks and with variable latency. Today, these systems are often assembled with ad-hoc concurrency and pub/sub conv…
Long-horizon robot planning requires jointly reasoning over semantic task structure and geometric feasibility. To successfully execute a task, a robot must decompose goals, select task-relevant objects, and sequence actions, while ensuring that plans satisfy spatial constraints s…