Task-aware perception lifts uncertain planning success to 83%
Robots can use uncertain visual input while planning, instead of forcing perception into brittle yes-or-no facts first. The framework keeps a continuous symbolic state and lets planning feedback refine the perception model; on its uncertainty test, success rose from 59% with frozen perception to 83%. It also solved 40/40 LatPlan-40 tasks and 596/600 PlanBench-600 tasks, while using substantially less computation and time than the comparisons reported.