---
publication_id: "OT-2026-000000245"
title: "Robot planning for gaps"
published_at: "2026-09-15T19:02:39.313644Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000000245"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "b25j9/1661"
  - "b25j9/1671"
---

# Robot planning for gaps

## 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.