mlsanityData to 7 Oct 2026

Online Replanning in Belief Space for Partially Observable Task and Motion Problems

arXiv 1911.04577 ↗First posted 11 Nov 2019cs.RO cs.AIcited by 60

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Abstract (arXiv)

To solve multi-step manipulation tasks in the real world, an autonomous robot must take actions to observe its environment and react to unexpected observations. This may require opening a drawer to observe its contents or moving an object out of the way to examine the space behind it. Upon receiving a new observation, the robot must update its belief about the world and compute a new plan of action. In this work, we present an online planning and execution system for robots faced with these challenges. We perform deterministic cost-sensitive planning in the space of hybrid belief states to select likely-to-succeed observation actions and continuous control actions. After execution and observation, we replan using our new state estimate. We initially enforce that planner reuses the structure of the unexecuted tail of the last plan. This both improves planning efficiency and ensures that the overall policy does not undo its progress towards achieving the goal. Our approach is able to efficiently solve partially observable problems both in simulation and in a real-world kitchen.

Key facts. Cited by 60 papers in the map (data through 7 Oct 2026). First posted on arXiv 11 Nov 2019.

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Citing papers per year: 2021: 10; 2022: 9; 2023: 12; 2024: 12; 2025: 11; 2026: 6.

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  1. 2022Do As I Can, Not As I Say: Grounding Language in Robotic Affordancescited by 2,302
  2. 2021Habitat 2.0: Training Home Assistants to Rearrange their Habitatcited by 501
  3. 2023Look Before You Leap: Unveiling the Power of GPT-4V in Robotic Vision-Language Planningcited by 161
  4. 2023HomeRobot: Open-Vocabulary Mobile Manipulationcited by 104
  5. 2021ManipulaTHOR: A Framework for Visual Object Manipulationcited by 101
  6. 2022Partially Observable Markov Decision Processes in Robotics: A Surveycited by 81
  7. 2023Grounded Decoding: Guiding Text Generation with Grounded Models for Embodied Agentscited by 66
  8. 2023Imitating Task and Motion Planning with Visuomotor Transformerscited by 63
  9. 2024Plan-Seq-Learn: Language Model Guided RL for Solving Long Horizon Robotics Taskscited by 51
  10. 2022Predicate Invention for Bilevel Planningcited by 49
  11. 2021Learning Neuro-Symbolic Relational Transition Models for Bilevel Planningcited by 43
  12. 2022IFOR: Iterative Flow Minimization for Robotic Object Rearrangementcited by 42
38 more
  1. 2024Closed-Loop Open-Vocabulary Mobile Manipulation with GPT-4Vcited by 40
  2. 2021Long-Horizon Manipulation of Unknown Objects via Task and Motion Planning with Estimated Affordancescited by 38
  3. 2021NeRP: Neural Rearrangement Planning for Unknown Objectscited by 33
  4. 2023TypeFly: Flying Drones with Large Language Modelcited by 23
  5. 2024Practice Makes Perfect: Planning to Learn Skill Parameter Policiescited by 22
  6. 2022Generating Executable Action Plans with Environmentally-Aware Language Modelscited by 21
  7. 2023DiMSam: Diffusion Models as Samplers for Task and Motion Planning under Partial Observabilitycited by 21
  8. 2023GAMMA: Graspability-Aware Mobile MAnipulation Policy Learning based on Online Grasping Pose Fusioncited by 21
  9. 2024Local Policies Enable Zero-shot Long-horizon Manipulationcited by 21
  10. 2023CabiNet: Scaling Neural Collision Detection for Object Rearrangement with Procedural Scene Generationcited by 17
  11. 2024Partially Observable Task and Motion Planning with Uncertainty and Risk Awarenesscited by 17
  12. 2022Sequential Manipulation Planning on Scene Graphcited by 16
  13. 2025Learning Compositional Behaviors from Demonstration and Languagecited by 15
  14. 2022Robot Task Planning and Situation Handling in Open Worldscited by 10
  15. 2021Learning to Search in Task and Motion Planning with Streamscited by 9
  16. 2024Open-World Task and Motion Planning via Vision-Language Model Generated Constraintscited by 9
  17. 2021OmniHang: Learning to Hang Arbitrary Objects using Contact Point Correspondences and Neural Collision Estimationcited by 8
  18. 2022Representation, learning, and planning algorithms for geometric task and motion planningcited by 8
  19. 2021MPTP: Motion-Planning-aware Task Planning for Navigation in Belief Spacecited by 7
  20. 2024Task and Motion Planning for Execution in the Realcited by 6
  21. 2025Hybrid Diffusion for Simultaneous Symbolic and Continuous Planningcited by 6
  22. 2023Out of Sight, Still in Mind: Reasoning and Planning about Unobserved Objects with Video Tracking Enabled Memory Modelscited by 5
  23. 2024Grasp, See, and Place: Efficient Unknown Object Rearrangement with Policy Structure Priorcited by 5
  24. 2023STAMP: Differentiable Task and Motion Planning via Stein Variational Gradient Descentcited by 4
  25. 2024Closed Loop Interactive Embodied Reasoning for Robot Manipulationcited by 4
  26. 2025CuriousBot: Interactive Mobile Exploration via Actionable 3D Relational Object Graphcited by 4
  27. 2025Prime the search: Using large language models for guiding geometric task and motion planning by warm-starting tree searchcited by 4
  28. 2025A Systematic Study of Large Language Models for Task and Motion Planning With PDDLStreamcited by 4
  29. 2023Safe motion planning with environment uncertaintycited by 3
  30. 2025COS(M+O)S: Curiosity and RL-Enhanced MCTS for Exploring Story Space via Language Modelscited by 3
  31. 2021A Task-Motion Planning Framework Using Iteratively Deepened AND/OR Graph Networkscited by 2
  32. 2023Using Memory-Based Learning to Solve Tasks with State-Action Constraintscited by 2
  33. 2024Learning to Look: Seeking Information for Decision Making via Policy Factorizationcited by 2
  34. 2025Prior Lessons of Incremental Dialogue and Robot Action Management for the Age of Language Modelscited by 2
  35. 2025EMMOE: A Comprehensive Benchmark for Embodied Mobile Manipulation in Open Environmentscited by 2
  36. 2026Large-Language-Model-Guided State Estimation for Partially Observable Task and Motion Planningcited by 2
  37. 2022Policy-Guided Lazy Search with Feedback for Task and Motion Planningcited by 1
  38. 2024Learning for Long-Horizon Planning via Neuro-Symbolic Abductive Imitationcited by 1

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