SOURCE-LINKED INTELLIGENCE

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

arXiv · AI, language, vision and robotics · article · Sep 19, 2026 · UTC

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 introduce GRAB-TAMP, an FM-based TAMP framework that searches for scene entities required for task completion, grounds functional roles to valid physical objects, and plans only after a complete joint assignment establishes functional sufficiency. We represent the task through funct

Read original source ↗ Open in workspace

recordType

paper

region

Global