POrTAL: Plan-Orchestrated Tree Assembly for Lookahead

ArXi:2512.06002v2 Announce Type: replace-cross When tasking robots in partially observable environments, these robots must efficiently and robustly plan to achieve task goals under uncertainty. Although many probabilistic planning algorithms exist for this purpose, these algorithms can be inefficient if executed with the robot's limited computational resources, or may produce policies that take steps than expected to achieve the goal. We. therefore.