Due to their complexity, foliated structure problems often pose intricate challenges to task and motion planning in robotics manipulation. To counter this, our study presents the ``Foliated Repetition Roadmap.'' This roadmap assists task and motion planners by transforming the complex foliated structure problem into a more accessible graph format. By leveraging query experiences from different foliated manifolds, our framework can dynamically and efficiently update this graph. The refined graph can generate distribution sets, optimizing motion planning performance in foliated structure problems. In our paper, we lay down the theoretical groundwork and illustrate its practical applications through real-world examples.

翻译：因其复杂性，叶状结构问题常对机器人操作中的任务与运动规划构成复杂挑战。为此，本研究提出"叶状重复路径图"。该路径图通过将复杂的叶状结构问题转化为更易处理的图结构形式，辅助任务与运动规划器。通过利用不同叶状流形的查询经验，本框架可动态高效地更新该图结构。优化后的图能够生成分布集合，从而提升叶状结构问题中的运动规划性能。本文阐述了理论框架基础，并通过实际案例展示了其应用价值。