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Sponsored Artificial Intelligence: A Modern Approach, Global Edition Artificial Intelligence: A Modern Approach, Global Edition

Author

P. Ojha

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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

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