From Language to Task Maps: Compiling Semantic Relations While Preserving Task-Relevant Freedom

arXiv:2609.34412 · cs.RO · Submitted 2026-09-28 · Read on arXiv

cs.RO

Submitted: 2026-09-28

Updated: 2026-09-28

Code: https://github.com/robotmcp/ros-mcp-server

Terminology

• Alignment — 25× in this paper · explained in 1 episode
• Affordance — 12× in this paper · explained in 1 episode
• Consistency — 8× in this paper · explained in 3 episodes
• Ablation — 5× in this paper · explained in 1 episode
• Grounding — 5× in this paper · explained in 3 episodes
• Phase Transitions — 2× in this paper · explained in 2 episodes
• AVOID COLLISION — 1× in this paper
• Accuracy — 1× in this paper · explained in 1 episode
• CLEAR SUPPORT — 1× in this paper
• Cosine Similarity — 1× in this paper · explained in 3 episodes
• ESTABLISH CONTACT — 1× in this paper
• Embeddings — 1× in this paper · explained in 2 episodes
• Generalization — 1× in this paper · explained in 13 episodes
• Large Language Models (LLMs) — 1× in this paper · explained in 6 episodes
• MAINTAIN DIRECTION — 1× in this paper
• MAINTAIN RELATIVE POSE — 1× in this paper
• REACH AFFORDANCE — 1× in this paper
• TRAVERSE AFFORDANCE — 1× in this paper
• Task Decomposition — 1× in this paper · explained in 2 episodes
• Temporal Reasoning — 1× in this paper · explained in 2 episodes

Sources

• Riemannian Motion Policies
• ReKep: Spatio-Temporal Reasoning of Relational Keypoint Constraints for Robotic Manipulation
• GeoManip: Geometric Constraints as General Interfaces for Robot Manipulation
• RelAfford6D: Relational 6D Affordance Graphs for Constraint-Driven Robotic Manipulation

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