See and Switch: Vision-Based Branching for Interactive Robot-Skill Programming

ArXi:2603.08057v1 Announce Type: cross Programming robots by nstration (PbD) is an intuitive concept, but scaling it to real-world variability remains a challenge for most current teaching frameworks. Conditional task graphs are very expressive and can be defined incrementally, which fits very well with the PbD idea. However, acting using conditional task graphs requires reliable perception-grounded online branch selection.