Reproduce “Object- and Task-Aware Active Perception for Safe Navigation of Mobile Manipulators in Semi-Static Environments” on OpenResearch
Turn your favorite coding agents into research agents that review literature, develop hypotheses, and run experiments.
Universal app for Apple silicon and Intel. Requires macOS 11 or later.
About this paper
Jingxing Qian, Xintong Du, Jun Yang, Siqi Zhou, Steven L. Waslander, Angela P. Schoellig
The authors present NBV-Map-Task, a mobile-manipulator system that selects hand-camera views using map uncertainty and relevance to the planned route. Its controller makes camera motion secondary to base-path tracking while updating the map and replanning. In three scenes, it completed 9 of 9 loop executions, versus 3 of 9 for NBV-Map; this benchmark does not establish general safety.
Summary by alphaXiv.
Tip: change arxiv.org to autoarxiv.org in any arXiv abstract link to open the paper here.