TANDEM (Task and Motion Planning with As-Needed Demonstrations) is a system that combines task and motion planning with selective human teleoperation to collect demonstrations for tasks beyond a planner's capabilities.
The documentation covers:
- Installation: what you need, and
tandem initon the robot workstation - Robot setup, perception servers, cameras and calibration and teleoperation
- Your first collection, then collecting and reviewing and exporting
- Configuration, the command reference, the data format and troubleshooting
- Adding a planner and adding a human executor
@misc{sahoo2026tandem,
title = {{TANDEM}: Task and Motion Planning with As-Needed Demonstrations for Efficient
Vision-Language-Action Model Fine-tuning},
author = {Sahoo, Samrat and Ji, Liang and Silver, Tom and Huang, Yixuan},
year = {2026}
}This repository is released under the MIT License.