Learning-Augmented Model-Based Planning for Visual Exploration
Yimeng Li,Arnab Debnath,Gregory J. Stein,Jana Košecká,Yimeng Li,Arnab Debnath,Gregory J. Stein,Jana Košecká
We consider the problem of time-limited robotic exploration in previously unseen environments where exploration is limited by a predefined amount of time. We propose a novel exploration approach using learning-augmented model-based planning. We generate a set of sub goals associated with frontiers on the current map and derive a Bellman Equation for exploration with these subgoals. Visual sensing ...
