Introspection for Long-Horizon Robot Planning under Uncertainty
Year: 2025
Type: article
Abstract: The next generation of household service robots must not only perform day-to-day tasks effectively, but also learn and improve over time by continuously evaluating their own performance. My research focuses on introspection as a technique that enables a robot to self-assess its behavior while performing long-horizon tasks in environments that may not be fully known. We show that such introspection enables improved performance in tasks such as navigation in unknown environments, deployment-time learning and adaptation, and LLM-informed object search.
DOI: 10.13021/mars/14875
Author: Paudel, Abhishek
Language: English
Subfield: Artificial Intelligence
Field: Computer Science
Domain: Physical Sciences
Open Access status: gold
OpenAlex ID: W6903408930
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