A robotic mapping system combining RL viewpoint selection with uncertainty-informed pushes maps cluttered shelves with 95% lower planning time, fewer pushes, and less object movement than the prior pipeline.
Map Space Belief Prediction for Manipulation-Enhanced Mapping,
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Efficient Manipulation-Enhanced Semantic Mapping With Uncertainty-Informed Action Selection
A robotic mapping system combining RL viewpoint selection with uncertainty-informed pushes maps cluttered shelves with 95% lower planning time, fewer pushes, and less object movement than the prior pipeline.