---
publication_id: "OT-2026-000001164"
title: "Machine learning model for task and motion planning"
published_at: "2026-09-15T19:03:57.535191Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000001164"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "b25j9/161"
  - "b25j9/161"
  - "b25j9/1664"
  - "b25j9/1664"
  - "b25j9/16"
  - "b25j9/161"
---

# Machine learning model for task and motion planning

## Abstract

Apparatuses, systems, and techniques are described that solve task and motion planning problems. In at least one embodiment, a task and motion planning problem is modeled using a geometric scene graph that records positions and orientations of objects within a playfield, and a symbolic scene graph that represents states of objects within context of a task to be solved. In at least one embodiment, task planning is performed using symbolic scene graph, and motion planning is performed using a geometric scene graph.