mlsanityData to 7 Oct 2026

PDDLStream: Integrating Symbolic Planners and Blackbox Samplers via Optimistic Adaptive Planning

arXiv 1802.08705 ↗First posted 23 Feb 2018cs.AI cs.ROcited by 147

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Abstract (arXiv)

Many planning applications involve complex relationships defined on high-dimensional, continuous variables. For example, robotic manipulation requires planning with kinematic, collision, visibility, and motion constraints involving robot configurations, object poses, and robot trajectories. These constraints typically require specialized procedures to sample satisfying values. We extend PDDL to support a generic, declarative specification for these procedures that treats their implementation as black boxes. We provide domain-independent algorithms that reduce PDDLStream problems to a sequence of finite PDDL problems. We also introduce an algorithm that dynamically balances exploring new candidate plans and exploiting existing ones. This enables the algorithm to greedily search the space of parameter bindings to more quickly solve tightly-constrained problems as well as locally optimize to produce low-cost solutions. We evaluate our algorithms on three simulated robotic planning domains as well as several real-world robotic tasks.

Key facts. Cited by 147 papers in the map (data through 7 Oct 2026). First posted on arXiv 23 Feb 2018.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 11; 2022: 15; 2023: 34; 2024: 26; 2025: 31; 2026: 30.

147 papers.

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  1. 2022Planning with Diffusion for Flexible Behavior Synthesiscited by 1,023
  2. 2022ProgPrompt: Generating Situated Robot Task Plans using Large Language Modelscited by 598
  3. 2023Text2Motion: From Natural Language Instructions to Feasible Planscited by 223
  4. 2022Open-vocabulary Queryable Scene Representations for Real World Planningcited by 159
  5. 2023AdaptDiffuser: Diffusion Models as Adaptive Self-evolving Plannerscited by 147
  6. 2023AutoTAMP: Autoregressive Task and Motion Planning with LLMs as Translators and Checkerscited by 111
  7. 2021ManipulaTHOR: A Framework for Visual Object Manipulationcited by 101
  8. 2025Cosmos-Transfer1: Conditional World Generation with Adaptive Multimodal Controlcited by 95
  9. 2023ISR-LLM: Iterative Self-Refined Large Language Model for Long-Horizon Sequential Task Planningcited by 77
  10. 2023Imitating Task and Motion Planning with Visuomotor Transformerscited by 63
  11. 2024LLM3:Large Language Model-based Task and Motion Planning with Motion Failure Reasoningcited by 63
  12. 2023Dynamic Planning with a LLMcited by 60
38 more
  1. 2024ORGANA: A Robotic Assistant for Automated Chemistry Experimentation and Characterizationcited by 60
  2. 2023Multi-Stage Cable Routing through Hierarchical Imitation Learningcited by 59
  3. 2023Grammar Prompting for Domain-Specific Language Generation with Large Language Modelscited by 58
  4. 2024Visual Whole-Body Control for Legged Loco-Manipulationcited by 58
  5. 2021Learning Symbolic Operators for Task and Motion Planningcited by 57
  6. 2024LoTa-Bench: Benchmarking Language-oriented Task Planners for Embodied Agentscited by 51
  7. 2024Plan-Seq-Learn: Language Model Guided RL for Solving Long Horizon Robotics Taskscited by 51
  8. 2021SORNet: Spatial Object-Centric Representations for Sequential Manipulationcited by 48
  9. 2023Tree-Planner: Efficient Close-loop Task Planning with Large Language Modelscited by 48
  10. 2024SkillMimicGen: Automated Demonstration Generation for Efficient Skill Learning and Deploymentcited by 48
  11. 2022Multi-skill Mobile Manipulation for Object Rearrangementcited by 46
  12. 2024Guiding Long-Horizon Task and Motion Planning with Vision Language Modelscited by 46
  13. 2024COHERENT: Collaboration of Heterogeneous Multi-Robot System with Large Language Modelscited by 43
  14. 2023Creative Robot Tool Use with Large Language Modelscited by 42
  15. 2023Compositional Diffusion-Based Continuous Constraint Solverscited by 39
  16. 2021Long-Horizon Manipulation of Unknown Objects via Task and Motion Planning with Estimated Affordancescited by 38
  17. 2023Interactive Task Planning with Language Modelscited by 36
  18. 2022LEAGUE: Guided Skill Learning and Abstraction for Long-Horizon Manipulationcited by 32
  19. 2023Vision-Language Interpreter for Robot Task Planningcited by 29
  20. 2023Human-in-the-Loop Task and Motion Planning for Imitation Learningcited by 28
  21. 2023Refining Diffusion Planner for Reliable Behavior Synthesis by Automatic Detection of Infeasible Planscited by 27
  22. 2023Integrating Action Knowledge and LLMs for Task Planning and Situation Handling in Open Worldscited by 26
  23. 2023DiMSam: Diffusion Models as Samplers for Task and Motion Planning under Partial Observabilitycited by 21
  24. 2024Local Policies Enable Zero-shot Long-horizon Manipulationcited by 21
  25. 2026PALM: Progress-Aware Policy Learning via Affordance Reasoning for Long-Horizon Robotic Manipulationcited by 20
  26. 2022Sequence-Based Plan Feasibility Prediction for Efficient Task and Motion Planningcited by 19
  27. 2024A Survey of Optimization-based Task and Motion Planning: From Classical To Learning Approachescited by 19
  28. 2024Trust the PRoC3S: Solving Long-Horizon Robotics Problems with LLMs and Constraint Satisfactioncited by 19
  29. 2022Sequential Manipulation Planning on Scene Graphcited by 16
  30. 2023Harmonic Mobile Manipulationcited by 16
  31. 2023Primitive Skill-based Robot Learning from Human Evaluative Feedbackcited by 15
  32. 2024Verifiably Following Complex Robot Instructions with Foundation Modelscited by 15
  33. 2025Learning Compositional Behaviors from Demonstration and Languagecited by 15
  34. 2021Extended Tree Search for Robot Task and Motion Planningcited by 14
  35. 2025Exploring Embodied Multimodal Large Models: Development, Datasets, and Future Directionscited by 12
  36. 2021Active Learning of Abstract Plan Feasibilitycited by 11
  37. 2023A Framework for Neurosymbolic Robot Action Planning using Large Language Modelscited by 11
  38. 2025MimicFunc: Imitating Tool Manipulation from a Single Human Video via Functional Correspondencecited by 11

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