Author

Matthew Stephenson

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Preprint Aug 2026

Evidence-Gated Task and Motion Planning with Vision-Language Models

Evidence Acquisition and Feasibility Gating (EAFG) is proposed, a framework that acquires visual evidence through VLM-generated exploratory subgoals and TAMP-based execution and applies a feasibility gate to decide whether to proceed with task planning, acquire further evidence, or halt.

Tsunehiko Tanaka, Matthew Stephenson, Alistair Macvicar et al. · 0 citations