COMPASS is a manipulation-aware active sensing framework that raises simulated manipulation success rates by 24.25% over information-gain-only baselines in a new four-level confined-space benchmark.
Online next-best-view planner for 3d-exploration and inspection with a mobile manipulator robot,
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COMPASS: Confined-space Manipulation Planning with Active Sensing Strategy
COMPASS is a manipulation-aware active sensing framework that raises simulated manipulation success rates by 24.25% over information-gain-only baselines in a new four-level confined-space benchmark.