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Standard task planners, lacking foresight of future tasks and inconsiderate of others' constraints, solve each task in isolation, leaving terminal states that increase future cost for all, side effects that compound over lengthy task sequences. To reduce cost over the sequence, a robot must anticipate how its actions now may impact performance on future tasks for all robots sharing the environment. Therefore, we present courteous anticipatory planning, wherein a model-based planner proposes candidate plans and selects the one that jointly minimizes immediate cost and aggregated expected future cost across all robots, estimated via independent per-robot learned estimators. This factored formulation avoids combinatorial joint rollouts and supports modular deployment: adding a robot requires only","title":"Courteous Anticipation: Improving Long-Lived Task Planning in Persistent Shared Environments","url":"https://arxiv.org/abs/2607.20289","vendor":"arxiv_cs_ai"},"summary":"arXiv:2607.20289v1 Announce Type: cross \nAbstract: We consider a task planning scenario in which robots sharing a persistent environment are assigned tasks one at a time from a held-out sequence. Standard task planners, lacking foresight of future tasks and inconsiderate of others' constraints, solve each task in isolation, leaving terminal states that increase future cost for all, side effects that compound over lengthy task sequences. To reduce cost over the sequence, a robot must anticipate how its actions now may impact performance on future tasks for all robots sharing the environment. Therefore, we present courteous anticipatory planning, wherein a model-based planner proposes candidate plans and selects the one that jointly minimizes immediate cost and aggregated expected future cost across all robots, estimated via independent per-robot learned estimators. This factored formulation avoids combinatorial joint rollouts and supports modular deployment: adding a robot requires only","title":"Courteous Anticipation: Improving Long-Lived Task Planning in Persistent Shared Environments","vendor":"arxiv_cs_ai"},"confidence":{"method":"deterministic"},"decision":"POSITIVE","issued_at":"2026-07-23T04:43:18Z","notes":"Spider vendor_press (news) news.vendor_press.v1","object":{"captured_by":"crovia.spider.vendor_press","primary_source_url":"https://arxiv.org/abs/2607.20289"},"predecessors":[],"schema":"crovia.axiom.v1","signature":"ed25519:08be36ad7d180061b45a2834d28e5b04ce585e53d873c765d0a0e19c733ec6c0c58f5315bbbc4218bddfc76306ea97b97d7faed4ec39a8bc43d53f5cf2e2e400","signer":"crovia.substrate","subject":{"observed_at":"2026-07-23T04:43:18Z","source_collector":"spider:vendor_press","target_id":"https://arxiv.org/abs/2607.20289"},"tsa":{"authority":"crovia.substrate.bootstrap","rfc3161_token":"{\"kind\":\"crovia.bootstrap.tsa\",\"source_jsonl\":\"/opt/crovia/spider/data/news/vendor_press_v1.jsonl\",\"source_seal_merkle_root\":\"spider_vendor_press_v1\",\"upgrade_path\":\"Sessione H \\u2014 OpenTimestamps weekly anchor\"}"},"zk_mode":"clear","zk_proof":null},"ledger":{"leaf_hash":"7ca4f50a13a9f9174612525afcd909f37f9e8766ef5da5aff201fbc0eacd1d6b","leaf_index":343737,"ledger_path":"/opt/crovia/substrate/axiom_ledger.jsonl"},"merkle_proof":{"hash_alg":"sha256","leaf_prefix":"0x00","node_prefix":"0x01","odd_leaf_rule":"duplicate_last","path":[{"sibling":"fa166ab45aded3598b3d1de6a7a3ba8f9e30768e1a12d4b296494a9f1806605e","side":"left"},{"sibling":"b2818423ecbc7fcc12bf60b640e6c8a441caafc54fca06efb53d530be06b8f30","side":"right"},{"sibling":"ad29682c9de42135f5897d23b901b21bd5e6a94dfb2c692b08516c236fa3978c","side":"right"},{"sibling":"1c5fd772d92a7e35e1f8ed8b26d8f8cf3a82d17894397abe5e3951182e8b4e00","side":"left"},{"sibling":"f76b71f912462bec3737ab19c426ef4768c7cc6f6495de50929031fad0b48059","side":"left"},{"sibling":"d554ecd3aa257e29b6c50bece8bb2c0eb94fdebe011a3aedfb86c1bca550c7bc","side":"left"},{"sibling":"ee80ef54fb43556fbc0cdc6b587800c87489c2cca696f33b35a13d71508c0f19","side":"right"},{"sibling":"fbe8bc0f33cd1a297ce2f845b101ed1107ebb67f2c2577c28ed032c1046d3b97","side":"left"},{"sibling":"6ecdcc1e2fb6ab44777fffbb7c8297d723018c63aac9d90c7a1bbebe728d84cf","side":"right"},{"sibling":"93d7d8e0e882d05b2a15bb707a824979a0427907eb47e687c712906674a0d345","side":"left"},{"sibling":"92219a3ef58cd145d94f071b0b9396cec3707812b02a8c7c63f2d0e22340552b","side":"left"},{"sibling":"4eb402d67bd4bf583b0434363061166fe259c34cc6c42adb32dcfbff0a9f5767","side":"left"},{"sibling":"2dd9cb2521044ee7c6b74f2315e0a0253b8df0d04a7b810bbbbe7da5a9788769","side":"left"},{"sibling":"21d66dd41003813f710b7617944f1bfba3258658a5d3370c21cad8f9e945bc99","side":"left"},{"sibling":"941f71d7ce3990a507b8f485de3f872a51d0e9a8c59405d76c2ae6f4a6af494a","side":"right"},{"sibling":"6281b6f7a93c44e3c4895bc65cfcb6f2be24dd725f4f46540ec022a6e215f4e8","side":"right"},{"sibling":"77025bcb374a7ad74f520643e20a8ae1205a7ee78507b0beb93117760f1c29d3","side":"left"},{"sibling":"6baede22892163664bb2e4d92cf75e6b290761533a6c39491c3afd89bb3a0252","side":"right"},{"sibling":"1cecb7f447febd025aac272837c80de218aecc6485d2395a509b2a1f1b9c746e","side":"left"}]},"schema":"crovia.axiom_proof.v1","seal":{"first_collector_run_id":"","first_receipt_hash":"","jsonl_path":"/opt/crovia/substrate/axiom_ledger.jsonl","key_id":"430895f101d38164","last_collector_run_id":"","last_receipt_hash":"","leaf_count":343944,"merkle_root":"afab58f71597d393a7a61b857dac2eacb72fd1c04cd1432c2622d7b19309dffd","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","run_id":"hourly_json_retrofit_20260723T053701Z","schema":"crovia.seal.v1","seal_family_version":"crovia-seal-family/1","seal_kind":"substrate_batch","sealed_at":"2026-07-23T05:38:39Z","sig_algorithm":"ed25519","signature":"1a58fdc6367d0c86f83d2385be748e0800a64bcf9987c92fadca53deda009cd390d2070302c2b6e44841febfd864637c323ba12c7a1e9ae58fdf2a0cf546ac01","signer_version":"1.1.0"},"trust_root":{"key_id":"430895f101d38164","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","signature_algorithm":"ed25519","url":"/registry/canon/TRUST_ROOT.md"},"verifier":{"spec":"/registry/canon/AXIOM_RECEIPT_v1.md","url":"/v/axm_62e98bef8efd9f927a938659e7e8367312152762acb66e1eae20ba37dcc8b8ac"}}