This research introduces a novel planning framework enabling dual-arm robots to efficiently execute complex tasks by intelligently managing dependencies between subtasks.

• Creates directed acyclic dependency graphs to map relationships between actions
• Optimizes task allocation between robot arms for maximum efficiency
• Enables cooperative manipulation where both arms work together on a single task
• Tackles the challenge of long-horizon planning with intricate temporal dependencies

This advancement is particularly valuable for manufacturing and factory automation where coordinated dual-arm robots can significantly enhance production efficiency and flexibility in assembly lines.

DAG-Plan: Generating Directed Acyclic Dependency Graphs for Dual-Arm Cooperative Planning