mlsanityData to 7 Oct 2026

Integrated Task and Motion Planning

arXiv 2010.01083 ↗First posted 2 Oct 2020cs.RO cs.AIcited by 281

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Cited by 26 in Offline RL and imitation learning from data, but placed by its own abstract, which didn’t fit.

Abstract (arXiv)

The problem of planning for a robot that operates in environments containing a large number of objects, taking actions to move itself through the world as well as to change the state of the objects, is known as task and motion planning (TAMP). TAMP problems contain elements of discrete task planning, discrete-continuous mathematical programming, and continuous motion planning, and thus cannot be effectively addressed by any of these fields directly. In this paper, we define a class of TAMP problems and survey algorithms for solving them, characterizing the solution methods in terms of their strategies for solving the continuous-space subproblems and their techniques for integrating the discrete and continuous components of the search.

Key facts. Cited by 281 papers in the map (data through 7 Oct 2026). First posted on arXiv 2 Oct 2020.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 22; 2022: 40; 2023: 50; 2024: 50; 2025: 56; 2026: 63.

281 papers.

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  1. 2022Perceiver-Actor: A Multi-Task Transformer for Robotic Manipulationcited by 545
  2. 2021Habitat 2.0: Training Home Assistants to Rearrange their Habitatcited by 501
  3. 2024ReKep: Spatio-Temporal Reasoning of Relational Keypoint Constraints for Robotic Manipulationcited by 305
  4. 2023Text2Motion: From Natural Language Instructions to Feasible Planscited by 223
  5. 2023Look Before You Leap: Unveiling the Power of GPT-4V in Robotic Vision-Language Planningcited by 161
  6. 2023AutoTAMP: Autoregressive Task and Motion Planning with LLMs as Translators and Checkerscited by 111
  7. 2023HomeRobot: Open-Vocabulary Mobile Manipulationcited by 104
  8. 2023Toward General-Purpose Robots via Foundation Models: A Survey and Meta-Analysiscited by 99
  9. 2025Galaxea Open-World Dataset and G0 Dual-System VLA Modelcited by 90
  10. 2021Bottom-Up Skill Discovery from Unsegmented Demonstrations for Long-Horizon Robot Manipulationcited by 82
  11. 2024Manipulate-Anything: Automating Real-World Robots using Vision-Language Modelscited by 82
  12. 2023ISR-LLM: Iterative Self-Refined Large Language Model for Long-Horizon Sequential Task Planningcited by 77
38 more
  1. 2023GPT-4V(ision) for Robotics: Multimodal Task Planning from Human Demonstrationcited by 76
  2. 2021Augmenting Reinforcement Learning with Behavior Primitives for Diverse Manipulation Taskscited by 75
  3. 2021Learning to Compose Visual Relationscited by 72
  4. 2025Large Video Planner Enables Generalizable Robot Controlcited by 67
  5. 2021The ThreeDWorld Transport Challenge: A Visually Guided Task-and-Motion Planning Benchmark for Physically Realistic Embodied AIcited by 64
  6. 2023Imitating Task and Motion Planning with Visuomotor Transformerscited by 63
  7. 2024LLM3:Large Language Model-based Task and Motion Planning with Motion Failure Reasoningcited by 63
  8. 2024Real-World Robot Applications of Foundation Models: A Reviewcited by 60
  9. 2022TASKOGRAPHY: Evaluating robot task planning over large 3D scene graphscited by 59
  10. 2023Multi-Stage Cable Routing through Hierarchical Imitation Learningcited by 59
  11. 2021Learning Symbolic Operators for Task and Motion Planningcited by 57
  12. 2022Learning Neuro-Symbolic Skills for Bilevel Planningcited by 55
  13. 2024Plan-Seq-Learn: Language Model Guided RL for Solving Long Horizon Robotics Taskscited by 51
  14. 2022Predicate Invention for Bilevel Planningcited by 49
  15. 2024SkillMimicGen: Automated Demonstration Generation for Efficient Skill Learning and Deploymentcited by 48
  16. 2022Multi-skill Mobile Manipulation for Object Rearrangementcited by 46
  17. 2024Guiding Long-Horizon Task and Motion Planning with Vision Language Modelscited by 46
  18. 2022DiffSkill: Skill Abstraction from Differentiable Physics for Deformable Object Manipulations with Toolscited by 44
  19. 2021Learning Neuro-Symbolic Relational Transition Models for Bilevel Planningcited by 43
  20. 2022Hierarchical Model-Based Imitation Learning for Planning in Autonomous Drivingcited by 43
  21. 2022IFOR: Iterative Flow Minimization for Robotic Object Rearrangementcited by 42
  22. 2023Creative Robot Tool Use with Large Language Modelscited by 42
  23. 2023Compositional Diffusion-Based Continuous Constraint Solverscited by 39
  24. 2023CoPAL: Corrective Planning of Robot Actions with Large Language Modelscited by 39
  25. 2021Long-Horizon Manipulation of Unknown Objects via Task and Motion Planning with Estimated Affordancescited by 38
  26. 2025VLA-R1: Enhancing Reasoning in Vision-Language-Action Modelscited by 38
  27. 2024VisualPredicator: Learning Abstract World Models with Neuro-Symbolic Predicates for Robot Planningcited by 37
  28. 2023Interactive Task Planning with Language Modelscited by 36
  29. 2023Learning adaptive planning representations with natural language guidancecited by 36
  30. 2024Learning Iterative Reasoning through Energy Diffusioncited by 36
  31. 2021From Machine Learning to Robotics: Challenges and Opportunities for Embodied Intelligencecited by 35
  32. 2021NeRP: Neural Rearrangement Planning for Unknown Objectscited by 33
  33. 2023Adaptive Online Replanning with Diffusion Modelscited by 33
  34. 2022LEAGUE: Guided Skill Learning and Abstraction for Long-Horizon Manipulationcited by 32
  35. 2021Core Challenges in Embodied Vision-Language Planningcited by 30
  36. 2022CAPE: Corrective Actions from Precondition Errors using Large Language Modelscited by 30
  37. 2021Learning Models as Functionals of Signed-Distance Fields for Manipulation Planningcited by 29
  38. 2023Human-in-the-Loop Task and Motion Planning for Imitation Learningcited by 28

50 most cited of 281 All 281 (JSON)