When to Personalize Household Object Search: A Rigidity-Gated Hybrid Policy

arXiv:2607.00022v1 Announce Type: new Abstract: Service robots searching for household objects rely on spatial priors to reduce search cost, yet object locations can vary with resident traits. Collecting longitudinal, trait-specific in-home trajectories is invasive and hard to scale. We study when personalization helps and propose PerSim, a rigidity-gated hybrid policy that combines a trait-conditioned prior with a population-frequency baseline, personalizing only when placement behavior is vari...