{
  "abstract": "Methods, systems, and apparatus, including computer programs encoded on computer storage media, for robot planning. One of the methods includes maintaining a library of pre-generated candidate actions that represent respective robot capabilities; receiving an initial task plan for performing a particular task, wherein the initial task plan includes a sequence of two or more actions that comprises a first action followed by a second action; processing the initial task plan to determine that the first effect of the first action does not result in satisfaction of the second precondition of the second action; selecting one or more selected pre-generated candidate actions from the library of pre-generated candidate actions; and modifying the initial task plan to include the one or more selected pre-generated candidate actions as the intermediate actions to generate a final task plan to be executed by the one or more particular robots when performing the particular task.",
  "canonical_url": "https://opentechnical.org/p/OT-2026-000000245",
  "categories": [
    "robotics-automation/robot-architectures"
  ],
  "extent": {
    "figures": 0,
    "paragraphs": 0,
    "words": 149
  },
  "figures": [],
  "files": [
    {
      "bytes": 9811,
      "media_type": "text/html; charset=utf-8",
      "name": "index.html",
      "sha256": "3829bdf7924442de27b78a267a8a74474951a9604816718ef22ba2c320c21e5f"
    },
    {
      "bytes": 1307,
      "media_type": "text/markdown; charset=utf-8",
      "name": "publication.md",
      "sha256": "500412b0865625193527108d1430ff1458492031fb0dc0497a3f0ba462f23871"
    },
    {
      "bytes": 1494,
      "media_type": "text/plain; charset=utf-8",
      "name": "publication.txt",
      "sha256": "b8874b6360aaf498cb46ad0865100d51e461480f45ea90c8c2a7220f40c8d34e"
    }
  ],
  "integrity": {
    "hash_algorithm": "sha256",
    "keys_url": "https://opentechnical.org/integrity/keys",
    "record_url": "https://opentechnical.org/p/OT-2026-000000245/integrity",
    "signature_algorithm": "Ed25519",
    "signature_file": "manifest.sig",
    "verify_url": "https://opentechnical.org/integrity/verify"
  },
  "keywords": [
    "b25j9/1661",
    "b25j9/1671"
  ],
  "language": "en",
  "license": {
    "name": "Creative Commons Attribution 4.0 International",
    "url": "https://creativecommons.org/licenses/by/4.0/"
  },
  "publication_id": "OT-2026-000000245",
  "published_at": "2026-09-15T19:02:39.313644Z",
  "publisher": "Nebula Innovations Limited",
  "record_type": "record",
  "schema": "opentechnical-publication-manifest/1.0",
  "source_date": "2026-04-21",
  "source_id": "US-12605830-B2",
  "source_name": "the United States Patent and Trademark Office",
  "source_url": "https://patents.google.com/patent/US12605830B2",
  "supersedes": null,
  "title": "Robot planning for gaps",
  "uuid": "01a0a673-25d1-7b4b-9574-a5a013cf4d14"
}
