# Multi-Robot Learning-Informed Task Planning Under Uncertainty

arXiv: https://arxiv.org/abs/2603.20544 · HTML: https://mlsanity.com/paper/2603.20544/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 20 Mar 2026.

## Built on by (most cited first, 1 of 1)

- [Object Search in Partially-Known Environments via LLM-informed Model-based Planning and Prompt Selection](https://mlsanity.com/paper/2603.23800/) (2026)

## Abstract (arXiv)

We want a multi-robot team to complete complex tasks in minimum time where the locations of task-relevant objects are not known. Effective task completion requires reasoning over long horizons about the likely locations of task-relevant objects, how individual actions contribute to overall progress, and how to coordinate team efforts. Planning in this setting is extremely challenging: even when task-relevant information is partially known, coordinating which robot performs which action and when is difficult, and uncertainty introduces a multiplicity of possible outcomes for each action, which further complicates long-horizon decision-making and coordination. To address this, we propose a multi-robot planning abstraction that integrates learning to estimate uncertain aspects of the environment with model-based planning for long-horizon coordination. We demonstrate the efficient multi-stage task planning of our approach for 1, 2, and 3 robot teams over competitive baselines in large ProcTHOR household environments. Additionally, we demonstrate the effectiveness of our approach with a team of two LoCoBot mobile robots in real household settings.