相关论文: Active Visual Exploration Based on Attention-Map E…

Active learning is a paradigm of machine learning which aims at reducing the amount of labeled data needed to train a classifier. Its overall principle is to sequentially select the most informative data points, which amounts to determining…

We consider an active visual exploration scenario, where an agent must intelligently select its camera motions to efficiently reconstruct the full environment from only a limited set of narrow field-of-view glimpses. While the agent has…

Collaborative multi-agent exploration of unknown environments is crucial for search and rescue operations. Effective real-world deployment must address challenges such as limited inter-agent communication and static and dynamic obstacles.…

Exploration in high-dimensional, continuous spaces with sparse rewards is an open problem in reinforcement learning. Artificial curiosity algorithms address this by creating rewards that lead to exploration. Given a reinforcement learning…

Active learning strategies for 3D object detection in autonomous driving datasets may help to address challenges of data imbalance, redundancy, and high-dimensional data. We demonstrate the effectiveness of entropy querying to select…

We study lifelong visual perception in an embodied setup, where we develop new models and compare various agents that navigate in buildings and occasionally request annotations which, in turn, are used to refine their visual perception…

Particle accelerators are invaluable discovery engines in the chemical, biological and physical sciences. Characterization of the accelerated beam response to accelerator input parameters is of-ten the first step when conducting…

Mobile robots exploring indoor environments increasingly rely on vision-language models to perceive high-level semantic cues in camera images, such as object categories. Such models offer the potential to substantially advance robot…

We address the problem of active mapping with a continually-learned neural scene representation, namely Active Neural Mapping. The key lies in actively finding the target space to be explored with efficient agent movement, thus minimizing…

This paper addresses the exploration-exploitation dilemma inherent in decision-making, focusing on multi-armed bandit problems. The problems involve an agent deciding whether to exploit current knowledge for immediate gains or explore new…

We propose ERA, a new paradigm that constrains the sampling entropy above given thresholds by applying specially designed activations to the outputs of models. Our approach demonstrates broad effectiveness across different domains: 1) for…

Exploration algorithms for reinforcement learning typically replace or augment the reward function with an additional ``intrinsic'' reward that trains the agent to seek previously unseen states of the environment. Here, we consider an…

In robot sensing scenarios, instead of passively utilizing human captured views, an agent should be able to actively choose informative viewpoints of a 3D object as discriminative evidence to boost the recognition accuracy. This task is…

Contextual policy search allows adapting robotic movement primitives to different situations. For instance, a locomotion primitive might be adapted to different terrain inclinations or desired walking speeds. Such an adaptation is often…

Despite the great development of multirobot technologies, efficiently and collaboratively exploring an unknown environment is still a big challenge. In this paper, we propose AIM-Mapping, a Asymmetric InforMation Enhanced Mapping framework.…

Many active learning and search approaches are intractable for large-scale industrial settings with billions of unlabeled examples. Existing approaches search globally for the optimal examples to label, scaling linearly or even…

In autonomous robot exploration tasks, a mobile robot needs to actively explore and map an unknown environment as fast as possible. Since the environment is being revealed during exploration, the robot needs to frequently re-plan its path…

Current unsupervised anomaly localization approaches rely on generative models to learn the distribution of normal images, which is later used to identify potential anomalous regions derived from errors on the reconstructed images. However,…

The problem of coverage control, i.e., of coordinating multiple agents to optimally cover an area, arises in various applications. However, coverage applications face two major challenges: (1) dealing with nonlinear dynamics while…

Although unsupervised generative modeling of an image dataset using a Variational AutoEncoder (VAE) has been used to detect anomalous images, or anomalous regions in images, recent works have shown that this method often identifies images…