{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,13]],"date-time":"2025-12-13T06:08:00Z","timestamp":1765606080145,"version":"3.48.0"},"reference-count":36,"publisher":"Wiley","issue":"12","license":[{"start":{"date-parts":[[2025,7,20]],"date-time":"2025-07-20T00:00:00Z","timestamp":1752969600000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":["advanced.onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Advanced Intelligent Systems"],"published-print":{"date-parts":[[2025,12]]},"abstract":"<jats:p>Task and Motion Planning (TAMP) that integrates task planning with motion planning endows robots with the ability to directly achieve abstract objectives under specified initial and goal states. However, in more practical scenarios like partially observable household scenes, the clutter and uncertainty of object placements, coupled with the often nonspecific goal states provided by human users, pose significant challenges. Conventional TAMP planners struggle to efficiently navigate these spaces based on nonspecific goals and also find it difficult to manage environments cluttered with irrelevant objects. To address these difficulties, this article introduces a TAMP framework based on a broadly used TAMP planner PDDLStream, requiring only nonspecific goal states to complete tasks. This framework employs Task\u2010level Backward Search to identify relevant objects for task completion, thus balancing autonomous exploration with the use of known information. Additionally, it uses an Object Manipulation Constraint Graph to generate a safe, collision\u2010free sequence for handling cluttered objects. The experiments demonstrate the effectiveness of the proposed framework in addressing TAMP tasks within partially observable, cluttered household environments with nonspecific goal states.<\/jats:p>","DOI":"10.1002\/aisy.202400897","type":"journal-article","created":{"date-parts":[[2025,7,20]],"date-time":"2025-07-20T16:39:43Z","timestamp":1753029583000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["A Task and Motion Planning Framework for Partially Observable Household Manipulation Scenes"],"prefix":"10.1002","volume":"7","author":[{"given":"Yuhong","family":"Ma","sequence":"first","affiliation":[{"name":"School of Robotics and Advanced Manufacturing Harbin Institute of Technology (Shenzhen)  Shenzhen 518055 China"}]},{"given":"Yeqing","family":"Yuan","sequence":"additional","affiliation":[{"name":"Research Institute of Intelligent Control and Systems Harbin Institute of Technology  Harbin 150001 China"}]},{"given":"Shaoquan","family":"Wu","sequence":"additional","affiliation":[{"name":"School of Communication Engineering Jilin University  ChangChun 130012 China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2842-9725","authenticated-orcid":false,"given":"Han","family":"Yuan","sequence":"additional","affiliation":[{"name":"School of Robotics and Advanced Manufacturing Harbin Institute of Technology (Shenzhen)  Shenzhen 518055 China"}]}],"member":"311","published-online":{"date-parts":[[2025,7,20]]},"reference":[{"key":"e_1_2_11_2_1","doi-asserted-by":"publisher","DOI":"10.1002\/aisy.202300703"},{"key":"e_1_2_11_3_1","first-page":"21","volume":"10","author":"Lee I.","year":"2021","journal-title":"Electronics"},{"key":"e_1_2_11_4_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.eswa.2021.115853"},{"key":"e_1_2_11_5_1","doi-asserted-by":"publisher","DOI":"10.1146\/annurev-control-091420-084139"},{"key":"e_1_2_11_6_1","doi-asserted-by":"publisher","DOI":"10.1007\/s11370-022-00437-3"},{"key":"e_1_2_11_7_1","first-page":"13s","volume":"55","author":"Guo H.","year":"2023","journal-title":"ACM Comput. Surv."},{"key":"e_1_2_11_8_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2021.103863"},{"key":"e_1_2_11_9_1","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2022.3223995"},{"key":"e_1_2_11_10_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3199676"},{"key":"e_1_2_11_11_1","doi-asserted-by":"publisher","DOI":"10.1109\/IROS58592.2024.10802552"},{"key":"e_1_2_11_12_1","doi-asserted-by":"crossref","unstructured":"M.Khodeir A.Sonwane R.Hari F.Shkurti in2023 IEEE Inter. Conf. Robotics and Automation (ICRA) IEEE Piscataway NJ2023 pp.3743\u20133749.","DOI":"10.1109\/ICRA48891.2023.10161109"},{"key":"e_1_2_11_13_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2023.3242201"},{"key":"e_1_2_11_14_1","doi-asserted-by":"publisher","DOI":"10.1109\/IROS51168.2021.9635941"},{"key":"e_1_2_11_15_1","doi-asserted-by":"crossref","unstructured":"K.Kim D.Park M. J.Kim in2023 IEEE Inter. Conf. Robotics and Automation (ICRA) IEEE Piscataway NJ2023 pp.3750\u20133756.","DOI":"10.1109\/ICRA48891.2023.10160294"},{"key":"e_1_2_11_16_1","unstructured":"B.Kim L.Shimanuki inConf. Robot Learning PMLR2019."},{"volume-title":"Sequence\u2010based Plan Feasibility Prediction for Efficient Task and Motion Planning","year":"2022","author":"Yang Z.","key":"e_1_2_11_17_1"},{"key":"e_1_2_11_18_1","doi-asserted-by":"crossref","unstructured":"C. R.Garrett T.Lozano\u2010P\u00e9rez L. P.Kaelbling inProc. Inter. Conf. on Automated Planning and Scheduling2020 Vol.30 pp.440\u2013448.","DOI":"10.1609\/icaps.v30i1.6739"},{"key":"e_1_2_11_19_1","unstructured":"M.Toussaint inInter. Joint Conf. Artificial Intelligence2015."},{"key":"e_1_2_11_20_1","doi-asserted-by":"crossref","unstructured":"S.Srivastava E.Fang L.Riano R.Chitnis S.Russell P.Abbeel in2014 IEEE Inter. Conf. Robotics and Automation (ICRA) IEEE Piscataway NJ2014 pp.639\u2013646.","DOI":"10.1109\/ICRA.2014.6906922"},{"key":"e_1_2_11_21_1","doi-asserted-by":"crossref","unstructured":"Y.Xiao S.Katt A. T.Pas S.Chen C.Amato in2019 Inter. Conf. on Robotics and Automation (ICRA)2019 pp.8241\u20138247.","DOI":"10.1109\/ICRA.2019.8793494"},{"key":"e_1_2_11_22_1","doi-asserted-by":"crossref","unstructured":"H.Huang M.Dominguez\u2010Kuhne V.Satish M.Danielczuk K.Sanders J.Ichnowski A.Lee A.Angelova V.Vanhoucke K.Goldberg in2021 IEEE\/RSJ Inter. Conf. Intelligent Robots and Systems (IROS) IEEE Piscataway NJ2021 pp.2045\u20132052.","DOI":"10.1109\/IROS51168.2021.9636629"},{"key":"e_1_2_11_23_1","doi-asserted-by":"crossref","unstructured":"M.Beetz D.Be\u00dfler A.Haidu M.Pomarlan A. K.Bozcuo\u011flu G.Bartels In2018 IEEE International Conf. Robotics and Automation (ICRA) IEEE Piscataway NJ2018 pp.512.","DOI":"10.1109\/ICRA.2018.8460964"},{"key":"e_1_2_11_24_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.artint.2015.05.010"},{"key":"e_1_2_11_25_1","unstructured":"L.Lamanna L.Serafini A.Saetti A. E.Gerevini P.Traverso inProc. Nineteenth Inter. Conf. Principles of Knowledge Representation and Reasoning2021."},{"key":"e_1_2_11_26_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3214784"},{"key":"e_1_2_11_27_1","doi-asserted-by":"crossref","unstructured":"A.Adu\u2010Bredu N.Devraj P.\u2010H.Lin Z.Zeng O. C.Jenkins in2021 IEEE\/RSJ Inter. Conf. Intelligent Robots and Systems (IROS) IEEE Piscataway NJ2021 pp.3154\u20133161.","DOI":"10.1109\/IROS51168.2021.9636685"},{"key":"e_1_2_11_28_1","doi-asserted-by":"crossref","unstructured":"C.Phiquepal M.Toussaint in2019 Inter. Conf. Robotics and Automation (ICRA) IEEE Piscataway NJ2019 pp.9000\u20139006.","DOI":"10.1109\/ICRA.2019.8793260"},{"key":"e_1_2_11_29_1","doi-asserted-by":"crossref","unstructured":"A.Curtis X.Fang L. P.Kaelbling T.Lozano\u2010P\u00e9rez C. R.Garrett in2022 Inter. Conf. Robotics and Automation (ICRA) IEEE Piscataway NJ2022 pp.1940\u20131946.","DOI":"10.1109\/ICRA46639.2022.9812057"},{"key":"e_1_2_11_30_1","doi-asserted-by":"publisher","DOI":"10.1613\/jair.1129"},{"key":"e_1_2_11_31_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2020.3047472"},{"key":"e_1_2_11_32_1","unstructured":"E.Coumans Y.Bai Pybullet a python module for physics simulation for games robotics and machine learning http:\/\/pybullet.org (accessed: 2016)."},{"key":"e_1_2_11_33_1","doi-asserted-by":"crossref","unstructured":"S.Wang M.Han Z.Jiao Z.Zhang Y. N.Wu S.\u2010C.Zhu H.Liu LLM3:large language model\u2010based task and motion planning with motion failure reasoning http:\/\/arxiv.org\/abs\/2403.11552 (accessed: 2024).","DOI":"10.1109\/IROS58592.2024.10801328"},{"key":"e_1_2_11_34_1","unstructured":"A.Curtis N.Kumar J.Cao T.Lozano\u2010P\u00e9rez L. P.Kaelbling https:\/\/openreview.net\/forum?id=r6ZhiVYriY (accessed: 2024)."},{"key":"e_1_2_11_35_1","doi-asserted-by":"crossref","unstructured":"J. J.Kuffner S. M.LaValle inProc. 2000 ICRA. Millennium Conf. IEEE Inter. Conf. Robotics and Automation. Symposia Proceedings (Cat. No. 0\u00b0CH37065) IEEE Piscataway NJ2000 Vol.2 pp.995\u20131001.","DOI":"10.1109\/ROBOT.2000.844730"},{"key":"e_1_2_11_36_1","unstructured":"R.Diankov https:\/\/api.semanticscholar.org\/CorpusID:38137843 (accessed: 2010)."},{"key":"e_1_2_11_37_1","doi-asserted-by":"crossref","unstructured":"C. R.Garrett C.Paxton T.Lozano\u2010P\u00e9rez L. P.Kaelbling D.Fox in2020 IEEE Inter. Conf. Robotics and Automation (ICRA) IEEE Piscataway NJ2020 pp.5678\u20135684.","DOI":"10.1109\/ICRA40945.2020.9196681"}],"container-title":["Advanced Intelligent Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/advanced.onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/aisy.202400897","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,12,13]],"date-time":"2025-12-13T06:04:36Z","timestamp":1765605876000},"score":1,"resource":{"primary":{"URL":"https:\/\/advanced.onlinelibrary.wiley.com\/doi\/10.1002\/aisy.202400897"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,7,20]]},"references-count":36,"journal-issue":{"issue":"12","published-print":{"date-parts":[[2025,12]]}},"alternative-id":["10.1002\/aisy.202400897"],"URL":"https:\/\/doi.org\/10.1002\/aisy.202400897","archive":["Portico"],"relation":{},"ISSN":["2640-4567","2640-4567"],"issn-type":[{"type":"print","value":"2640-4567"},{"type":"electronic","value":"2640-4567"}],"subject":[],"published":{"date-parts":[[2025,7,20]]},"assertion":[{"value":"2024-10-20","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2025-07-20","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}],"article-number":"e202400897"}}