10 papers
TRACE: Ergodic Trajectory Optimization for Active Scene Reconstruction
Ziyue Zheng, Linli Shi, Bingkun He +2
Existing active reconstruction systems with Gaussian-splatting maps select observations greedily, optimizing a single next-best-view (NBV) at each step and connecting the chosen vi…
ActiveGrasp: Information-Guided Active Grasping with Calibrated Energy-based Model
Boshu Lei, Wen Jiang, Kostas Daniilidis
Grasping in a densely cluttered environment is a challenging task for robots. Previous methods tried to solve this problem by actively gathering multiple views before grasp pose ge…
HELIOS: Hierarchical Exploration for Language-Grounded Interaction in Open Scenes
Katrina Ashton, Chahyon Ku, Shrey Shah +5
Language-specified mobile manipulation tasks in novel environments simultaneously face challenges interacting with a scene which is only partially observed, grounding semantic info…
Next Best View Selections for Semantic and Dynamic 3D Gaussian Splatting
Yiqian Li, Wen Jiang, Kostas Daniilidis
Understanding semantics and dynamics has been crucial for embodied agents in various tasks. Both tasks have much more data redundancy than the static scene understanding task. We f…
Active Next-Best-View Optimization for Risk-Averse Path Planning
Amirhossein Mollaei Khass, Guangyi Liu, Vivek Pandey +4
Safe navigation in uncertain environments requires planning methods that integrate risk aversion with active perception. In this work, we present a unified framework that refines a…
Multimodal LLM Guided Exploration and Active Mapping using Fisher Information
Wen Jiang, Boshu Lei, Katrina Ashton +1
We present an active mapping system that plans for both long-horizon exploration goals and short-term actions using a 3D Gaussian Splatting (3DGS) representation. Existing methods…