OPENTECHNICAL PUBLICATION
OT-2026-000001212

Techniques for robot control based on differentiable task-and-motion planning

Published: 2026-09-15T19:04:10.174111Z
Permanent URL: https://opentechnical.org/p/OT-2026-000001212
Categories: Robotics & Automation > Robot Architectures

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ABSTRACT

Techniques for controlling a robot include receiving a task and motion
planning (TAMP)-domain language input, a goal, and sensor data, generating a
plan skeleton based on the TAMP-domain language input, the goal, and the
sensor data, generating, based on the plan skeleton, one or more feasible
particles, generating, based on the plan skeleton and at least one of the one
or more feasible particles, a robot plan, and causing the robot to perform at
least part of the robot plan.

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OpenTechnical publication OT-2026-000001212
Published 2026-09-15T19:04:10.174111Z
https://opentechnical.org/p/OT-2026-000001212