The present study examined 7- to 11-month-old infants' anticipatory and reactive reaching for temporarily occluded objects. Infants were presented with laterally approaching objects that moved at different velocities (10, 20, and 40cm/s) in different occlusion situations (no-, 20cm-, and 40cm-occlusion), resulting in occlusion durations ranging between 0 and 4s. Results show that except for object velocity and occlusion distance, occlusion duration was a critical constraint for infants' reaching behaviors. We found that the older infants reached more often, but that an increase in occlusion duration resulted in a decline in reaching frequency that was similar across age groups. Anticipatory reaching declined with increasing occlusion duration, but the adverse effects for longer occlusion durations diminished with age. It is concluded that with increasing age infants are able to retain and use information to guide reaching movements over longer periods of non-visibility, providing support for the graded representation hypothesis (Jonsson & von Hofsten, 2003) and the two-visual systems model (Milner & Goodale, 1995).