A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2022; you can also visit the original URL.
The file type is application/pdf
.
Uncertainty-driven Planner for Exploration and Navigation
[article]
2022
arXiv
pre-print
We consider the problems of exploration and point-goal navigation in previously unseen environments, where the spatial complexity of indoor scenes and partial observability constitute these tasks challenging. We argue that learning occupancy priors over indoor maps provides significant advantages towards addressing these problems. To this end, we present a novel planning framework that first learns to generate occupancy maps beyond the field-of-view of the agent, and second leverages the model
arXiv:2202.11907v1
fatcat:ldk7abfdfrf3nleulkwrkl2l3i