Least Commitment Planning for the Object Scouting Problem

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NOTES:

• This paper introduces the object scouting problem: a way of tackling different types of uncertainty (spatial uncertainty and state uncertainty) related to mobile manipulation and long-horizon task execution.
• The object scouting problem is modelled using the locally observable Markov decision process (LOMDP) previously introduced by Merlin et al. 2024 .
• We introduce a new planner specifically designed for object scouting known as SPOP (scouting partial-order planner).

Citation:

M. Merlin, Z. Yang, G. Konidaris*, and D. Paulius* (2025). “Least Commitment Planning for the Object Scouting Problem”. In: Proceedings of the 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).