CABTO: Context-Aware Behavior Tree Grounding for Robot Manipulation
Behavior Trees (BTs) offer a powerful paradigm for designing modular and reactive robot controllers. BT planning, an emerging field, provides theoretical guarantees for the automated generation of reliable BTs. However, BT planning typically assumes that a well-designed BT system is already grounded -- comprising high-level action models and low-level control policies -- which often requires extensive expert knowledge and manual effort. In this paper, we formalize the BT Grounding problem: the automated construction of a complete and consistent BT system. We analyze its complexity and introduce CABTO (Context-Aware Behavior Tree grOunding), the first framework to efficiently solve this ch...
| Authors | Yishuai Cai, Xinglin Chen, Yunxin Mao et al. |
|---|---|
| Primary category | cs.RO |
| Published | 17 March 2026 |
| Last updated at source | 4 July 2026 |
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