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Conditional Timed Partial Orders: An Expressive and Interpretable Framework for Robot Task Specification and Planning

arXiv · AI, language, vision and robotics · article · Sep 7, 2026 · UTC

Timed Partial Orders (TPOs), originally proposed for workflows, provide an interpretable framework for robot task specification with planning algorithms based on mixed-integer linear programming (MILP). However, TPOs are limited in expressivity, capturing only partial-order events with simple timing constraints. In this paper, we introduce Conditional TPOs (cTPOs), which extend TPOs with richer relative-timing constraints and conditional event activations based on environmental conditions. We show that planning for cTPOs also reduces to an MILP problem; however, the added expressivity results

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