HygieneRoboBench: Benchmarking Hygiene-Aware Planning for Household Robots
Contact with contaminated objects can spread hazards through a household robot's grippers, tools, and shared surfaces, while new contacts can make an existing plan unsafe. Existing benchmarks do not jointly assess how planners identify hygiene risks from contact history and plan safe continuations after new contact events. Planners must do so within time and resource limits while respecting user priorities. We introduce HygieneRoboBench, with 624 instances across 134 task families, to evaluate safe resolution of household tasks from a given execution history. Tasks capture contamination through two grippers and shared objects, treatment costs, and user priorities. We combine controlled hi...
| Authors | Yurun Chen, Josh Qixuan Sun, Jason Qin et al. |
|---|---|
| Primary category | cs.RO |
| Published | 6 October 2026 |
| Last updated at source | 6 October 2026 |
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