State-aware Task Estimator and Planner (STEP) outperforms state-of-the-art by 32.8% in action executability and 14.8% in final-state error for robot assembly tasks

Our approach outperforms the state-of-the-art by 32.8% in action executability and 14.8% in final-state error

http://arxiv.org/abs/2608.27225v1