{"ID":6536502,"CreatedAt":"2026-07-14T01:21:01.169441415Z","UpdatedAt":"2026-07-14T18:35:22.803179637Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2607.10437","arxiv_id":"2607.10437","title":"Interleaved POMDP Planning for Multi-Object Search in Unknown Multi-Room Household Environments","abstract":"Multi-object search in unknown household environments requires planning under extensive uncertainty - from unknown object locations to cluttered spaces with unobserved obstacles. POMDPs offer a principled framework for such problems but remain intractable in large domains. We propose Inter-POMDP, a novel interleaved POMDP planning algorithm that decomposes this challenge into two interacting levels: a high-level POUCT planner reasons over object distributions using LLM-informed histogram beliefs, while a low-level motion planner models navigation uncertainty with obstacle-aware particle beliefs as domain knowledge to guide high-level POUCT. This interleaved design balances planning quality and efficiency despite the large search space across unknown multi-room environments. Both simulation and real-world experiments show that our Inter-POMDP algorithm reduces collision counts by up to 63%, navigation steps by up to 35%, and detection counts by up to 32% compared with baseline methods. Full videos are https://sites.google.com/view/inter-pomdp","short_abstract":"Multi-object search in unknown household environments requires planning under extensive uncertainty - from unknown object locations to cluttered spaces with unobserved obstacles. POMDPs offer a principled framework for such problems but remain intractable in large domains. We propose Inter-POMDP, a novel interleaved PO...","url_abs":"https://arxiv.org/abs/2607.10437","url_pdf":"https://arxiv.org/pdf/2607.10437v1","authors":"[\"Ruochu Yang\",\"Ziyi Xia\",\"Huibo Zhang\",\"Yatong Han\",\"Yiming Zhao\",\"Yingke Li\",\"Fumin Zhang\",\"Yorai Wardi\",\"Mengxue Hou\"]","published":"2026-07-11T18:43:02Z","proceeding":"cs.RO","tasks":"[\"cs.RO\"]","methods":"[\"Large Language Model\"]","project_urls":"[\"https://sites.google.com/view/inter-pomdp\"]","has_code":false,"code_links":[{"ID":614183,"CreatedAt":"2026-07-14T01:21:01.169441415Z","UpdatedAt":"2026-07-14T01:21:01.169441415Z","DeletedAt":null,"paper_id":6536502,"paper_url":"https://arxiv.org/abs/2607.10437","paper_title":"Interleaved POMDP Planning for Multi-Object Search in Unknown Multi-Room Household Environments","repo_url":"https://github.com/google/safevalues","is_official":false,"mentioned_in_paper":false,"mentioned_in_github":true,"github_stars":0}]}