Author

Nav Singhal

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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