Author

G. Varma

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Preprint Aug 2026

Plan Along the Way: Event-Triggered Foundation-Model Planning for TAMP Execution in Partially Observable Manipulation

Manipulation in partially observable environments requires planning under incomplete scene information. In such settings, an initially valid plan may execute successfully yet remain insufficient for task completion. Existing foundation-model-guided task and motion planning (TAMP) systems can generate useful long-horizo...

P. Ojha, N. Vijayakumar, Nav Singhal et al. · 1 citation

Preprint Sep 2026

Search, Ground, Plan: Functional Sufficiency for Task and Motion Planning under Incomplete Scene Knowledge

Foundation models (FMs) have expanded task and motion planning (TAMP) to manipulation problems specified through language and visual observations. However, incomplete scene knowledge leaves a critical gap between understanding what the task requires and knowing whether the physical scene can actually realize it. We int...

N. Vijayakumar, Nav Singhal, G. Varma et al. · 0 citations