diff --git a/unified_planning/engines/mixins/replanner.py b/unified_planning/engines/mixins/replanner.py
index f07f49d36..b1af16a5c 100644
--- a/unified_planning/engines/mixins/replanner.py
+++ b/unified_planning/engines/mixins/replanner.py
@@ -111,6 +111,10 @@ def remove_goal(
         Removes the given goal.
 
         :param goal: the goal to remove to the problem.
+        :raises UPUsageError: If the goal is not found in the problem.
+            This works only if the checks are enabled (flag ``skip_checks``).
+            Based on the ``error_on_failed_checks`` this cna be an exception or a
+            warning.
         """
         return self._remove_goal(goal)
 
@@ -127,6 +131,10 @@ def remove_action(self, name: str):
         Removes the given action.
 
         :param action: the action to remove to the problem.
+        :raises UPUsageError: If the action is not found in the problem.
+            This works only if the checks are enabled (flag ``skip_checks``).
+            Based on the ``error_on_failed_checks`` this cna be an exception or a
+            warning.
         """
         return self._remove_action(name)
 
diff --git a/unified_planning/engines/replanner.py b/unified_planning/engines/replanner.py
index 3db771dd3..524c1626c 100644
--- a/unified_planning/engines/replanner.py
+++ b/unified_planning/engines/replanner.py
@@ -13,6 +13,7 @@
 # limitations under the License.
 #
 
+from warnings import warn
 import unified_planning as up
 import unified_planning.engines.mixins as mixins
 from unified_planning.model import ProblemKind
@@ -23,6 +24,7 @@
     PlanGenerationResult,
 )
 from unified_planning.engines.mixins.oneshot_planner import OptimalityGuarantee
+from unified_planning.exceptions import UPUsageError
 from typing import Type, IO, Callable, Optional, Union, List, Tuple
 from fractions import Fraction
 
@@ -108,9 +110,18 @@ def _remove_goal(
         (goal_exp,) = self._problem.environment.expression_manager.auto_promote(goal)
         goals = self._problem.goals
         self._problem.clear_goals()
+        removed = False
         for g in goals:
             if not g is goal_exp:
                 self._problem.add_goal(g)
+            else:
+                removed = True
+        if not self._skip_checks and not removed:
+            msg = f"goal to remove: {goal_exp} not found inside the problem goals: {goals}"
+            if self._error_on_failed_checks:
+                raise UPUsageError(msg)
+            else:
+                warn(msg)
 
     def _add_action(self, action: "up.model.action.Action"):
         assert isinstance(self._problem, up.model.Problem)
@@ -120,6 +131,15 @@ def _remove_action(self, name: str):
         assert isinstance(self._problem, up.model.Problem)
         actions = self._problem.actions
         self._problem.clear_actions()
+        removed = False
         for a in actions:
             if a.name != name:
                 self._problem.add_action(a)
+            else:
+                removed = True
+        if not self._skip_checks and not removed:
+            msg = f"action to remove: {name} not found inside the problem actions: {list(map(lambda a: a.name, actions))}"
+            if self._error_on_failed_checks:
+                raise UPUsageError(msg)
+            else:
+                warn(msg)
diff --git a/unified_planning/test/test_replanner.py b/unified_planning/test/test_replanner.py
index aac31517f..4e69c66a2 100644
--- a/unified_planning/test/test_replanner.py
+++ b/unified_planning/test/test_replanner.py
@@ -18,6 +18,7 @@
 from unified_planning.shortcuts import *
 from unified_planning.model.problem_kind import classical_kind
 from unified_planning.engines.results import POSITIVE_OUTCOMES, NEGATIVE_OUTCOMES
+from unified_planning.exceptions import UPUsageError
 from unified_planning.test import TestCase, main
 from unified_planning.test import (
     skipIfNoOneshotPlannerForProblemKind,
@@ -67,6 +68,14 @@ def test_basic(self):
             res = replanner.resolve()
             self.assertIn(res.status, POSITIVE_OUTCOMES)
 
+            with self.assertRaises(UPUsageError):
+                replanner.remove_action("b")
+
+            with self.assertRaises(UPUsageError):
+                y = Fluent("y")
+                problem.add_fluent(y, default_initial_value=False)
+                replanner.remove_goal(y)
+
     @skipIfEngineNotAvailable("opt-pddl-planner")
     def test_robot(self):
         problem = self.problems["robot"].problem