効果的かつ効率的な身体性探索のための能動的空间検査
Active Spatial Inspection for Effective and Efficient Embodied Exploration
身体性探索において、空間的に明示的な検査に基づく知覚と移動を組み合わせたACEフレームワークを提案し、早期終了と過剰継続のトレードオフを緩和してナビゲーション成功率と探索効率を向上させた。
著者: Wenbin Wang, Xiang Bai, Yizhao Wang, Hang Sun, Dong Ren, Jie Qin, Qingquan Li, Bing Wang
分類: cs.RO, cs.CV
原文アブストラクト
Achieving high task success and efficiency remains a central pursuit in embodied exploration. Existing frameworks typically guide agent behavior through a spatially coarse and indirect assessment of suggestive cues and directions, yet such designs may struggle to judge cue sufficiency and the need for further inspection, leading to early termination or excessive continuation and ultimately reducing task success and efficiency. This work rethinks embodied exploration from a spatially explicit standpoint and introduces the spatial-inspection-guided ACtive Exploration (ACE) framework coupling evidence-grounded perception with exposure-informed movement and establishing a spatially resolved decision paradigm. Evidence-grounded perception strengthens inferential validity by integrating granular localization with focused verification, turning suggestive cues into precise decisive visual support. Exposure-informed movement promotes directional judgment through prospective prioritization and retrospective suppression, selecting promising directions for efficient spatial progress. ACE alleviates the tension between preventing early termination and avoiding unnecessary continuation. Extensive experiments demonstrate that ACE achieves 18.0% higher navigation task success and 10.3% higher exploration efficiency for question answering than prior state-of-the-art baselines, advancing effective and efficient embodied exploration.