Imagine-TAMP: Imagination-Guided Task and Motion Planning in Partial Observability

arXiv:2609.20396 · cs.RO · Submitted 2026-09-17 · Read on arXiv

cs.RO

Submitted: 2026-09-17

Updated: 2026-09-17

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Task and Motion Planning — 12× in this paper
• Accuracy — 5× in this paper · explained in 1 episode
• Unit-Cost PO-TAMP — 4× in this paper
• Computer Vision and Pattern Recognition — 3× in this paper
• Generative Model — 3× in this paper · explained in 2 episodes
• Generative Models — 3× in this paper · explained in 2 episodes
• Task Planning — 3× in this paper · explained in 2 episodes
• Ablation — 2× in this paper · explained in 1 episode
• Foundation Model — 2× in this paper · explained in 3 episodes
• Foundation Models — 2× in this paper · explained in 7 episodes
• Adaptive Planning — 1× in this paper · explained in 1 episode
• International Conference on Robotics and Automation — 1× in this paper
• Verifier — 1× in this paper · explained in 2 episodes
• Vision-Language Models (VLMs) — 1× in this paper · explained in 6 episodes
• World Model — 1× in this paper · explained in 7 episodes

Sources

• Optimizing Trajectory-Trees in Belief Space: An Application from Model Predictive Control to Task and Motion Planning
• Kinodynamic Task and Motion Planning using VLM-guided and Interleaved Sampling

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