Probabilistic Plan Legibility with Off-the-shelf Planners
Legible planning is the creation of plans that best disambiguate their goals from a set of other candidates from an observer's perspective. In this paper we propose a method for legible planning for arbitrary PDDL domains, by extending previous research on legibility to classical planning without requiring to construct ad-hoc planners. We also discuss how the observer perspective may be estimated through a second order theory of mind that connects the planner's and the observer's task spaces. Our solution can for example be deployed in human-robot teaming scenarios, where an autonomous robot in a team can implicitly communicate its goal by producing legible plans. We present benchmark res...
| Authors | Michele Persiani, Thomas Hellström |
|---|---|
| Primary category | cs.RO |
| Published | 4 September 2026 |
| Last updated at source | 4 September 2026 |
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