RoboPARA: Dual-Arm Robot Planning with Parallel Allocation and Recomposition Across Tasks

Shiying Duan, Pei Ren, Nanxiang Jiang, Zhengping Che, Jian Tang, Yifan Sun, Zhaoxin Fan, wenjun wu

Keywords: Dual-Arm Robots, LLM-driven Planning, Task Parallelism

Abstract:

Dual-arm robots play a crucial role in improving efficiency and flexibility in complex multitasking scenarios. While existing methods have achieved promising results in task planning, they often fail to fully optimize task parallelism, limiting the potential of dual-arm collaboration.
To address this issue, we propose RoboPARA, a novel large language model (LLM)-driven framework for dual-arm task parallelism planning.
RoboPARA employs a two-stage process: (1) Dependency Graph-based Planning Candidates Generation, which constructs directed acyclic graphs (DAGs) to model task dependencies and eliminate redundancy, and (2) Graph Re-Traversal-based Dual-Arm Parallel Planning, which optimizes DAG traversal to maximize parallelism while maintaining task coherence. In addition, we introduce the Cross-Scenario Dual-Arm Parallel Task dataset (X-DAPT dataset), the first dataset specifically designed to evaluate dual-arm task parallelism across diverse scenarios and difficulty levels. Extensive experiments demonstrate that RoboPARA significantly outperforms existing planning methods, achieving higher efficiency and reliability, particularly in complex task combinations.Our code is publicly available at https://github.com/AiDuanshiying/RoboPARA.

Primary Area: applications to robotics, autonomy, planning

Submission Number: 4045