VANDERER: Map-Free Exploration using Future-Aware and Visual-Curiosity-Guided Diffusion Policy
Mobile agents require efficient exploration strategies to map unseen environments and autonomously plan tasks. Traditional methods rely on generating occupancy maps and optimizing the sequence in which unexplored regions are visited. However, in sensor-constrained settings, such as those limited to monocular cameras, generating accurate occupancy maps is challenging. To address this, we propose VANDERER, an exploration framework that leverages a Visual Curiosity Module (VCM) to guide pre-trained diffusion policies using only monocular image data. This curiosity module predicts the outcomes of proposed actions via a navigation world model and evaluates them through a curiosity cost. The co...
| Authors | Venkata Naren Devarakonda, Raktim Gautam Goswami, Prashanth Krishnamurthy et al. |
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| Primary category | cs.RO |
| Published | 12 June 2026 |
| Last updated at source | 12 June 2026 |
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