Problem
Research questions and friction points this paper is trying to address.
Construction Task Activities
Robot Workers
Taxonomy
O*NET Tasks
Action Primitives
A Taxonomy of Construction Task Activities for Robot Workers
🤖 AI Summary
为解决建筑任务中机器人工作活动分类问题，提出TARCAT分类法，定义41种动作原语并演示于DOBOT CR3机械臂上。
📝 Abstract
Recent vision-language-action models offer a path toward robots with broader repertoires than conventional task-specific systems. Construction deployment, however, requires a precise inventory of worker activities and the capabilities needed to execute them. We present TARCAT, an occupation-grounded taxonomy derived from 91 O*NET tasks across seven high-employment construction occupations and 30 instructional videos of physical work. TARCAT defines 41 action primitives in 12 groups and three classes and provides a mechanism for composing parameterized primitive sequences into reusable skills. This human-interpretable structure can organize demonstrations, specify robot requirements, and support coding agents that retrieve and extend skill libraries. We also demonstrate selected primitives on a DOBOT CR3 arm with a CRAFT hand. TARCAT thereby provides a common vocabulary for analyzing human work and developing general-purpose construction robots. Annotations are available at https://github.com/AICPS/TARCAT-Taxonomy.
Innovation
Methods, ideas, or system contributions that make the work stand out.
TARCAT
action primitives
skill composition
construction robots
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