# Adaptation of Task Goal States from Prior Knowledge

arXiv: https://arxiv.org/abs/2502.03918 · HTML: https://mlsanity.com/paper/2502.03918/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 10 of its 22 references that are in the map.
- First posted on arXiv 6 Feb 2025.

## Builds on (most cited first, 10 of 10)

- [OpenPose: Realtime Multi-Person 2D Pose Estimation using Part Affinity Fields](https://mlsanity.com/paper/1812.08008/) (2018)
- [ConceptNet 5.5: An Open Multilingual Graph of General Knowledge](https://mlsanity.com/paper/1612.03975/) (2016)
- [Behavioral Cloning from Observation](https://mlsanity.com/paper/1805.01954/) (2018)
- [Human-to-Robot Imitation in the Wild](https://mlsanity.com/paper/2207.09450/) (2022)
- [On Bringing Robots Home](https://mlsanity.com/paper/2311.16098/) (2023)
- [Intel RealSense Stereoscopic Depth Cameras](https://mlsanity.com/paper/1705.05548/) (2017)
- [Multiple Interactions Made Easy (MIME): Large Scale Demonstrations Data for Imitation](https://mlsanity.com/paper/1810.07121/) (2018)
- ["Set It Up!": Functional Object Arrangement with Compositional Generative Models](https://mlsanity.com/paper/2405.11928/) (2024)
- [Language models are robotic planners: reframing plans as goal refinement graphs](https://mlsanity.com/paper/2407.15677/) (2024)
- [Using The Concept Hierarchy for Household Action Recognition](https://mlsanity.com/paper/2409.08853/) (2024)

## Abstract (arXiv)

This paper presents a framework to define a task with freedom and variability in its goal state. A robot could use this to observe the execution of a task and target a different goal from the observed one; a goal that is still compatible with the task description but would be easier for the robot to execute. We define the model of an environment state and an environment variation, and present experiments on how to interactively create the variation from a single task demonstration and how to use this variation to create an execution plan for bringing any environment into the goal state.