DC2G learns cost-to-go maps from partial semantic gridmaps and uses them to select exploration frontiers, reaching unknown delivery goals 189% faster than frontier exploration in 42 simulated houses.
Utilizing object-object and object-scene context when planning to find things,
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Planning Beyond the Sensing Horizon Using a Learned Context
DC2G learns cost-to-go maps from partial semantic gridmaps and uses them to select exploration frontiers, reaching unknown delivery goals 189% faster than frontier exploration in 42 simulated houses.