Related Links:
- Paper:
- Workshop Paper (LEAP Workshop @ CoRL 2024)
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NOTES:
- David Paulius and George Konidaris are joint last authors (equal advising).
- 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), which is based on the idea of least commitment planning by Weld 1994 .
- We show how this planner is better suited for planning to find task-relevant objects and resolve the plans to incorporate these objects than the previous LOMDP planner.
- These are specifically highlighted in the AI2THOR simulator environment.
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), IEEE.