Task and Motion Planning

Benchmarks archive 2025-07-28

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Libraries

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Datasets archive 2025-07-28

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Subtasks archive 2025-07-28

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Most implemented papers archive 2025-07-28

21 shown of 21 papers with code (86 tagged with this task in all), ordered by repositories listed in the archive, not by stars (the archive holds no stars, so PwC's “Social” and “Latest” sorts cannot be reproduced). Papers without a page here are shown as plain text.

• STRIPS Planning in Infinite Domains
  1 Jan 2017 4 repositories listed Syntology ran 1 of 5 samples · 4 unverified · 1 pointer-only (licence)
  We introduce STRIPStream: an extension of the STRIPS language which can model these domains by supporting the specification of blackbox generators to handle complex constraints.
• AutoTAMP: Autoregressive Task and Motion Planning with LLMs as Translators and Checkers
  10 Jun 2023 3 repositories listed Syntology ran 1 of 1 samples · 0 unverified
  Rather than using LLMs to directly plan task sub-goals, we instead perform few-shot translation from natural language task descriptions to an intermediate task representation that can then be consumed by a TAMP…
• The ThreeDWorld Transport Challenge: A Visually Guided Task-and-Motion Planning Benchmark for Physically Realistic Embodied AI
  25 Mar 2021 2 repositories listed
  To complete the task, an embodied agent must plan a sequence of actions to change the state of a large number of objects in the face of realistic physical constraints.
• Active model learning and diverse action sampling for task and motion planning
  2 Mar 2018 2 repositories listed Syntology ran 0 of 6 samples · 6 unverified
  Solving long-horizon problems in complex domains requires flexible generative planning that can combine primitive abilities in novel combinations to solve problems as they arise in the world.
• Prime the search: Using large language models for guiding geometric task and motion planning by warm-starting tree search
  8 Jun 2025 1 repository listed
  The problem of relocating a set of objects to designated areas amidst movable obstacles can be framed as a Geometric Task and Motion Planning (G-TAMP) problem, a subclass of task and motion planning (TAMP).
• Interpretable Responsibility Sharing as a Heuristic for Task and Motion Planning
  9 Sep 2024 1 repository listed
  This article introduces a novel heuristic for Task and Motion Planning (TAMP) named Interpretable Responsibility Sharing (IRS), which enhances planning efficiency in domestic robots by leveraging human-constructed…
• Temporal and Semantic Evaluation Metrics for Foundation Models in Post-Hoc Analysis of Robotic Sub-tasks
  25 Mar 2024 1 repository listed
  To rigorously evaluate the quality of our automatic labeling framework, we contribute an algorithm SIMILARITY to produce two novel metrics, temporal similarity and semantic similarity.
• LLM3:Large Language Model-based Task and Motion Planning with Motion Failure Reasoning
  18 Mar 2024 1 repository listed Syntology ran 4 of 4 samples · 0 unverified
  Through a series of simulations in a box-packing domain, we quantitatively demonstrate the effectiveness of LLM^3 in solving TAMP problems and the efficiency in selecting action parameters.
• FurnitureBench: Reproducible Real-World Benchmark for Long-Horizon Complex Manipulation
  22 May 2023 1 repository listed Syntology ran 3 of 3 samples · 0 unverified
  We benchmark the performance of offline RL and IL algorithms on our assembly tasks and demonstrate the need to improve such algorithms to be able to solve our tasks in the real world, providing ample opportunities for…
• Search-Based Task and Motion Planning for Hybrid Systems: Agile Autonomous Vehicles
  25 Jan 2023 1 repository listed
  The algorithm performance is evaluated in simulated driving on a mixed-track with segments of different curvatures (right and left).
• Orbit: A Unified Simulation Framework for Interactive Robot Learning Environments
  10 Jan 2023 1 repository listed Syntology ran 0 of 12 samples · 12 unverified
  We present Orbit, a unified and modular framework for robot learning powered by NVIDIA Isaac Sim.
• STAP: Sequencing Task-Agnostic Policies
  21 Oct 2022 1 repository listed
  We further demonstrate how STAP can be used for task and motion planning by estimating the geometric feasibility of skill sequences provided by a task planner.
• JEDAI: A System for Skill-Aligned Explainable Robot Planning
  31 Oct 2021 1 repository listed
  This paper presents JEDAI, an AI system designed for outreach and educational efforts aimed at non-AI experts.
• Integrated Task and Motion Planning for Safe Legged Navigation in Partially Observable Environments
  23 Oct 2021 1 repository listed
  This study proposes a hierarchically integrated framework for safe task and motion planning (TAMP) of bipedal locomotion in a partially observable environment with dynamic obstacles and uneven terrain.
• Extended Tree Search for Robot Task and Motion Planning
  9 Mar 2021 1 repository listed
  Moreover, we effectively combine this skeleton space with the resultant motion variable spaces into a single extended decision space.
• Learning Symbolic Operators for Task and Motion Planning
  28 Feb 2021 1 repository listed
  We then propose a bottom-up relational learning method for operator learning and show how the learned operators can be used for planning in a TAMP system.
• Planning with Learned Object Importance in Large Problem Instances using Graph Neural Networks
  11 Sep 2020 1 repository listed Syntology ran 3 of 3 samples · 0 unverified
  We conclude that learning to predict a sufficient set of objects for a planning problem is a simple, powerful, and general mechanism for planning in large instances.
• CAMPs: Learning Context-Specific Abstractions for Efficient Planning in Factored MDPs
  26 Jul 2020 1 repository listed
  A general meta-planning strategy is to learn to impose constraints on the states considered and actions taken by the agent.
• Learning compositional models of robot skills for task and motion planning
  8 Jun 2020 1 repository listed
  We use, and develop novel improvements on, state-of-the-art methods for active learning and sampling.
• Learning to combine primitive skills: A step towards versatile robotic manipulation
  2 Aug 2019 1 repository listed
  Manipulation tasks such as preparing a meal or assembling furniture remain highly challenging for robotics and vision.
• Regret bounds for meta Bayesian optimization with an unknown Gaussian process prior
  23 Nov 2018 1 repository listed
  Bayesian optimization usually assumes that a Bayesian prior is given.

Syntology lines on 7 of the papers shown; no Syntology record for the others (a paper without an arXiv id cannot be joined to the graph, and absence from the graph layer is not a recorded non-run). “Ran” means the sample executed on a synthesized fixture, not that the paper's result was reproduced. Read from the graph 2026-09-24.