Task-based world model verification

In order to fulfill typical household tasks, such as fetching objects, robots need an accurate description of their environment. Maintaining such a description, called world model, requires (i) monitoring the environment for new objects and (ii) updating object attributes in the world model whenever needed. The focus in this work is on the latter of these two subtasks. We present a generic framework that can be used to keep a world model up-to-date. In addition, we present a task dependent strategy that coordinates when to update which object attributes. The task-based coordination strategy enables robots to perform \emph{efficient} world model verification. We present a first the proof-of-concept experiment.