Probabilistic Plan Legibility with Off-the-shelf Planners

arXiv:2610.00065v1 Announce Type: cross 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-ro

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