3.4. Design Space Summary

Figure 3.1 makes the gap explicit. The prior work reviewed here contributes ingredients used in this dissertation, but not their combination. Affordance Templates and Affordance Primitives provide precedent for reusable authored action structure. Behavior Trees provide precedent for reactive task coordination. Coactive Design, Director, FlexBE, RAFCON, and Drawing Board provide precedent for making autonomy inspectable and adaptable under human supervision. The CENTAURO papers show that perception can be elevated into task structure rather than left as a global background service. Classical and learned door systems demonstrate several ways to achieve substantial portions of the benchmark task, from shared-autonomy humanoid FSMs to mobile-manipulator planners to monolithic learned door policies.

We are not aware of a prior system that combines reusable authored task structure, reactive execution, robot-local runtime behavior state synchronized to an operator interface, behavior-time perception configuration, and fast real-robot humanoid door behaviors in one architecture with an edit-centered adaptation workflow. Some prior systems are structured and editable but do not demonstrate fast humanoid loco-manipulation. Others are strong door-performance references but depend on fixed procedural pipelines, external measurements, heavy supervision, off-board inference with active communications, or retraining-centered adaptation. This is the gap the thesis addresses, evaluated in later chapters on speed, robustness across task variation, and adaptation time.