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TANDEM: Task and Motion Planning with As-Needed Demonstrations for Efficient Vision-Language-Action Model Fine-tuning

arXiv · AI, language, vision and robotics · article · Sep 23, 2026 · UTC

Human teleoperators spend substantial time demonstrating behaviors that robots can already perform autonomously, limiting the scalability of data collection for robot foundation models. Task and motion planning (TAMP) can automate many of these behaviors, but a fixed planning domain may not support every stage of a long-horizon manipulation task. We present TANDEM (Tamp with As-Needed Demonstrations for Efficient Model fine-tuning), a system that combines TAMP with selective human teleoperation to collect demonstrations for tasks beyond the planner's capabilities. Our key idea is to represent

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