A Taxonomy of Construction Task Activities for Robot Workers

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 this https URL.

Robotics (cs.RO)

arXiv:2608.25395 [cs.RO]

(or arXiv:2608.25395v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2608.25395 Focus to learn more arXiv-issued DOI via DataCite (pending registration)

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