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

arXiv:2609.23113 · cs.RO · Submitted 2026-09-19 · Read on arXiv

cs.RO

Submitted: 2026-09-19

Updated: 2026-09-19

Terminology

• Grounding — 50× in this paper · explained in 3 episodes
• Verification — 18× in this paper · explained in 2 episodes
• Task and Motion Planning — 15× in this paper
• Ablation — 7× in this paper · explained in 1 episode
• Affordance — 5× in this paper · explained in 1 episode
• Foundation Model — 3× in this paper · explained in 3 episodes
• Foundation Models — 3× in this paper · explained in 7 episodes
• Plan Goal Coverage — 3× in this paper
• Active Perception — 2× in this paper · explained in 2 episodes
• Foundation Models (FMs) — 2× in this paper · explained in 2 episodes
• Task Planning — 2× in this paper · explained in 2 episodes
• Abstention — 1× in this paper · explained in 1 episode
• Accuracy — 1× in this paper · explained in 1 episode
• Adaptive Planning — 1× in this paper · explained in 1 episode
• Graph Construction — 1× in this paper · explained in 3 episodes
• Large Language Models (LLMs) — 1× in this paper · explained in 6 episodes
• Non-Commitment Rate — 1× in this paper

Sources

• Grounded Vision-Language Interpreter for Long-Horizon Bimanual Task and Motion Planning
• Using VLM Reasoning to Constrain Task and Motion Planning
• Seeing is Believing: Belief-Space Planning with Foundation Models as Uncertainty Estimators
• Large-Language-Model-Guided State Estimation for Partially Observable Task and Motion Planning
• Robot Planning and Situation Handling with Active Perception

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