Uncertainty-driven Planner for Exploration and Navigation
Georgios Georgakis,Bernadette Bucher,Anton Arapin,Karl Schmeckpeper,Nikolai Matni,Kostas Daniilidis,Georgios Georgakis,Bernadette Bucher,Anton Arapin,Karl Schmeckpeper,Nikolai Matni,Kostas Daniilidis
We consider the problems of exploration and pointgoal 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...
