A Taxonomy of Construction Task Activities for Robot Workers

arXiv:2608.25395 · cs.RO · Submitted 2026-08-26 · Read on arXiv

cs.RO

Submitted: 2026-08-26

Updated: 2026-09-24

Code: https://github.com/AICPS/TARCAT-Taxonomy

Terminology

• Action Primitives — 8× in this paper · explained in 1 episode
• Grounding — 3× in this paper · explained in 3 episodes
• Task Decomposition — 3× in this paper · explained in 2 episodes
• Abstraction — 1× in this paper · explained in 1 episode
• Action Space — 1× in this paper · explained in 1 episode
• Adaptation — 1× in this paper · explained in 1 episode

Sources

• OpenVLA: An Open-Source Vision-Language-Action Model
• TARMAC: A Taxonomy for Robot Manipulation in Chemistry
• CRAFT: A Tendon-Driven Hand with Hybrid Hard-Soft Compliance

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