{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2026:RRAT2ZA3JK46NF4XOFXZEGUPR3","short_pith_number":"pith:RRAT2ZA3","schema_version":"1.0","canonical_sha256":"8c413d641b4ab9e69797716f921a8f8ed77ee78bbd9a03682fb26ba29efe94b8","source":{"kind":"arxiv","id":"2607.10437","version":1},"attestation_state":"computed","paper":{"title":"Interleaved POMDP Planning for Multi-Object Search in Unknown Multi-Room Household Environments","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Fumin Zhang, Huibo Zhang, Mengxue Hou, Ruochu Yang, Yatong Han, Yiming Zhao, Yingke Li, Yorai Wardi, Ziyi Xia","submitted_at":"2026-07-11T18:43:02Z","abstract_excerpt":"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 belief"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"2607.10437","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-07-11T18:43:02Z","cross_cats_sorted":[],"title_canon_sha256":"2d3d42fd8f035e208643d2e4e7b7fd9c59c04f096608a88f1b67a2805c7b4531","abstract_canon_sha256":"b9b4eca67f02f15d97839a69550d83339a2571ff6baf806fdab9a45ee63f39df"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-14T01:21:15.922196Z","signature_b64":"QNbtoZ48gzLGEL3lbyCwRPcivRdg2ATVwtfcXhq18QrLJT0BqHnjbN18RMXEf0D4iFuy640g9fKLpbHntIVCAA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"8c413d641b4ab9e69797716f921a8f8ed77ee78bbd9a03682fb26ba29efe94b8","last_reissued_at":"2026-07-14T01:21:15.921393Z","signature_status":"signed_v1","first_computed_at":"2026-07-14T01:21:15.921393Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Interleaved POMDP Planning for Multi-Object Search in Unknown Multi-Room Household Environments","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Fumin Zhang, Huibo Zhang, Mengxue Hou, Ruochu Yang, Yatong Han, Yiming Zhao, Yingke Li, Yorai Wardi, Ziyi Xia","submitted_at":"2026-07-11T18:43:02Z","abstract_excerpt":"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 belief"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2607.10437","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2607.10437/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"},"aliases":[{"alias_kind":"arxiv","alias_value":"2607.10437","created_at":"2026-07-14T01:21:15.921810+00:00"},{"alias_kind":"arxiv_version","alias_value":"2607.10437v1","created_at":"2026-07-14T01:21:15.921810+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2607.10437","created_at":"2026-07-14T01:21:15.921810+00:00"},{"alias_kind":"pith_short_12","alias_value":"RRAT2ZA3JK46","created_at":"2026-07-14T01:21:15.921810+00:00"},{"alias_kind":"pith_short_16","alias_value":"RRAT2ZA3JK46NF4X","created_at":"2026-07-14T01:21:15.921810+00:00"},{"alias_kind":"pith_short_8","alias_value":"RRAT2ZA3","created_at":"2026-07-14T01:21:15.921810+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/RRAT2ZA3JK46NF4XOFXZEGUPR3","json":"https://pith.science/pith/RRAT2ZA3JK46NF4XOFXZEGUPR3.json","graph_json":"https://pith.science/api/pith-number/RRAT2ZA3JK46NF4XOFXZEGUPR3/graph.json","events_json":"https://pith.science/api/pith-number/RRAT2ZA3JK46NF4XOFXZEGUPR3/events.json","paper":"https://pith.science/paper/RRAT2ZA3"},"agent_actions":{"view_html":"https://pith.science/pith/RRAT2ZA3JK46NF4XOFXZEGUPR3","download_json":"https://pith.science/pith/RRAT2ZA3JK46NF4XOFXZEGUPR3.json","view_paper":"https://pith.science/paper/RRAT2ZA3","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2607.10437&json=true","fetch_graph":"https://pith.science/api/pith-number/RRAT2ZA3JK46NF4XOFXZEGUPR3/graph.json","fetch_events":"https://pith.science/api/pith-number/RRAT2ZA3JK46NF4XOFXZEGUPR3/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/RRAT2ZA3JK46NF4XOFXZEGUPR3/action/timestamp_anchor","attest_storage":"https://pith.science/pith/RRAT2ZA3JK46NF4XOFXZEGUPR3/action/storage_attestation","attest_author":"https://pith.science/pith/RRAT2ZA3JK46NF4XOFXZEGUPR3/action/author_attestation","sign_citation":"https://pith.science/pith/RRAT2ZA3JK46NF4XOFXZEGUPR3/action/citation_signature","submit_replication":"https://pith.science/pith/RRAT2ZA3JK46NF4XOFXZEGUPR3/action/replication_record"}},"created_at":"2026-07-14T01:21:15.921810+00:00","updated_at":"2026-07-14T01:21:15.921810+00:00"}