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.
Autonomous 3-d reconstruction, mapping, and exploration of indoor environments with a robotic arm,
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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.