HygieneRoboBench: Benchmarking Hygiene-Aware Planning for Household Robots
This study addresses the overlooked risks of contact contamination and plan invalidation caused by novel contact events in domestic robot planning. To this end, it proposes Hygiene-NSP, a method that jointly optimizes hygiene management and task execution. Technically, the approach integrates large language model grounding, contact history reconstruction, and a CP-SAT solver to achieve hybrid planning. Additionally, a benchmark is constructed to systematically evaluate the planner’s ability to balance hygiene risk identification, cost control, and user preferences. Experimental results demonstrate that the proposed method attains a safe completion rate of 94.4% and an optimal safety rate of 90.4%, significantly outperforming existing baselines. These findings indicate that Hygiene-NSP overcomes the limitations of conventional planners that fail to simultaneously ensure safety and cost optimality.