Author

Antony Thomas

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Preprint Sep 2026

Towards Kinematic Actionable Infeasibility Detection in Motion Planning

Motion planning in robotics requires not only computing collision-free paths but also certifying infeasibility when no such path exists. Complete methods are limited to low-dimensional spaces, while sampling-based planners scale efficiently but cannot provide finite-time infeasibility certificates, leaving this problem...

Aayush Rath, Lakshya Jindal, Antony Thomas · 0 citations

Preprint Aug 2026

Plan Along the Way: Event-Triggered Foundation-Model Planning for TAMP Execution in Partially Observable Manipulation

Manipulation in partially observable environments requires planning under incomplete scene information. In such settings, an initially valid plan may execute successfully yet remain insufficient for task completion. Existing foundation-model-guided task and motion planning (TAMP) systems can generate useful long-horizo...

P. Ojha, N. Vijayakumar, Nav Singhal et al. · 1 citation

Preprint Sep 2026

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

GRAB-TAMP is introduced, 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.

N. Vijayakumar, Nav Singhal, G. Varma et al. · 0 citations