Robot Planning and Situation Handling with Active Perception. - Austine Oloo; Zainab Altaweel; Yohei Hayamizu; Peiqi Liu; Yan Ding 002; Saeid Amiri; Hao Yang; Andy Kaminski; Chad Esselink; Chris Paxton 001; Xiaohan Zhang 002; Shiqi Zhang 001 (CoRR, 2026)