Combining transformers for robotics planning

A system comprising:

• one or more computers and one or more storage devices storing instructions that are operable, when executed by the one or more computers, to cause the one or more computers to perform operations comprising:
• receiving a process definition graph for a robot, the process definition graph having a plurality of action nodes, wherein the plurality of action nodes comprise a plurality of motion nodes that were previously split from a single motion node due to a conflict with a second motion node representing a second motion to be performed by another robot;
• determining that the conflict with the second motion node no longer exists;
• and
• in response to determining that the conflict with the second motion node no longer exists, modifying the process definition graph including combining the plurality of motion nodes into a new single motion node representing all of the motions of the plurality of motion nodes.

A computer-readable storage medium encoded with a computer program, the program comprising instructions that are operable, when executed by data processing apparatus, to cause the data processing apparatus to perform operations comprising:

• receiving a process definition graph for a robot, the process definition graph having a plurality of action nodes, wherein the plurality of action nodes comprise a plurality of motion nodes that were previously split from a single motion node due to a conflict with a second motion node representing a second motion to be performed by another robot;
• determining that the conflict with the second motion node no longer exists;
• and
• in response to determining that the conflict with the second motion node no longer exists, modifying the process definition graph including combining the plurality of motion nodes into a new single motion node representing all of the motions of the plurality of motion nodes.