# Reward-Guided RRT*: A Task and Motion Planning Framework Under Budget Constraints

- Source: arXiv cs.RO
- Published: 2026-10-27T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/n0e7869tykkrx0xba0kzflq3x
- Original: https://arxiv.org/abs/2610.35289

## Summary

The authors propose Reward-Guided RRT*, a sampling-based framework that directly constructs budget-satisfying task sequences in continuous state space through a series of locally joint task-selection and motion-planning stages, without requiring a precomputed task-transition graph.