Preprint
Oct 2026
Evaluating Long-Horizon Robot Planning under Uncertainty
Household robots must successfully navigate im-perfect circumstances, both in their internal models and the external world. We introduce a benchmark of seven long-horizon household tasks in Habitat that vary initial robot memory and environment configurations. We evaluate adaptations of ReAct, VLM-TAMP, and Tru-POMDP w...
Harsh Muriki, G. Aravindan, Yu-Chen Zheng et al.
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