Various aspects of the present disclosure generally relate to wireless communication. In some aspects, a user equipment (UE) may receive downlink control information (DCI) that activates a semi-persistent scheduling (SPS) configuration. The UE may receive SPS transmissions in a plurality of SPS occasions that are according to the SPS configuration using at least one beam that is based at least in part on: whether a scheduling offset between the DCI and the plurality of SPS occasions satisfies a threshold time duration, whether a transmission configuration indicator (TCI) state, associated with a control resource set that carries the DCI and is used to determine the at least one beam, changes while the SPS configuration is active, or whether a mapping of a TCI identifier, indicated by the DCI, to one or more TCI states changes while the SPS configuration is active. Numerous other aspects are described.