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[Submitted on 4 Sep 2026] Title:Probabilistic Plan Legibility with Off-the-shelf Planners View a PDF of the paper titled Probabilistic Plan Legibility with Off-the-shelf Planners, by Michele Persiani and 1 other authors View PDF HTML (experimental) Abstract:Legible planning is the creation of plans that best disambiguate their goals from a set of other candidates from an observer's perspective. In this paper we propose a method for legible planning for arbitrary PDDL domains, by extending previous research on legibility to classical planning without requiring to construct ad-hoc planners. We also discuss how the observer perspective may be estimated through a second order theory of mind that connects the planner's and the observer's task spaces. Our solution can for example be deployed in human-robot teaming scenarios, where an autonomous robot in a team can implicitly communicate its goal by producing legible plans. We present benchmark results on several PDDL planning domains. Our results generally show that plan legibility is a trade-off with plan efficiency, however, not all planning domains allows to increase legibility in the same way and a regularizing factor to balance legibility and efficiency was proved necessary. Comments: Accepted at the 9th ICAPS Workshop on Planning and Robotics. ICAPS 2021 Subjects: Robotics (cs.RO); Artificial Intelligence (cs.AI) Cite as: arXiv:2610.00065 [cs.RO] (or arXiv:2610.00065v1 [cs.RO] for this version) https://doi.org/10.48550/arXiv.2610.00065 arXiv-issued DOI via DataCite Submission history From: Michele Persiani [view email] [v1] Fri, 4 Sep 2026 14:37:53 UTC (181 KB) Full-text links: Access Paper: View a PDF of the paper titled Probabilistic Plan Legibility with Off-the-shelf Planners, by Michele Persiani and 1 other authors View PDF HTML (experimental) TeX Source view license Current browse context: cs.RO new | recent | 2026-10 Change to browse by: cs cs.AI References & Citations NASA ADS Google Scholar Semantic Scholar Loading... Data provided by: Bibliographic Tools Bibliographic and Citation Tools Bibliographic Explorer Toggle Bibliographic Explorer (What is the Explorer?) Connected Papers Toggle Connected Papers (What is Connected Papers?) Litmaps Toggle Litmaps (What is Litmaps?) scite.ai Toggle scite Smart Citations (What are Smart Citations?) Code, Data, Media Code, Data and Media Associated with this Article alphaXiv Toggle alphaXiv (What is alphaXiv?) Links to Code Toggle CatalyzeX Code Finder for Papers (What is CatalyzeX?) DagsHub Toggle DagsHub (What is DagsHub?) GotitPub Toggle Gotit.pub (What is GotitPub?) Huggingface Toggle Hugging Face (What is Huggingface?) ScienceCast Toggle ScienceCast (What is ScienceCast?) Demos Demos Replicate Toggle Replicate (What is Replicate?) Spaces Toggle Hugging Face Spaces (What is Spaces?) Spaces Toggle TXYZ.AI (What is TXYZ.AI?) Related Papers Recommenders and Search Tools Link to Influence Flower Influence Flower (What are Influence Flowers?) Core recommender toggle CORE Recommender (What is CORE?) Author Venue Institution Topic About arXivLabs arXivLabs: experimental projects with community collaborators arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs. Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)