A curiosity-based 3D exploration policy that pairs persistent online 3D reconstruction with episodic sequence modeling over RGB to outperform active-mapping baselines on HM3D and transfer zero-shot to Gibson and synthetic worlds.
Multimodal llm guided explo- ration and active mapping using fisher information
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Remember to be Curious: Episodic Context and Persistent Worlds for 3D Exploration
A curiosity-based 3D exploration policy that pairs persistent online 3D reconstruction with episodic sequence modeling over RGB to outperform active-mapping baselines on HM3D and transfer zero-shot to Gibson and synthetic worlds.