Active Spatial Inspection for Effective and Efficient Embodied Exploration
Achieving high task success and efficiency remains a central pursuit in embodied exploration. Existing frameworks typically guide agent behavior through a spatially coarse and indirect assessment of suggestive cues and directions, yet such designs may struggle to judge cue sufficiency and the need for further inspection, leading to early termination or excessive continuation and ultimately reducing task success and efficiency. This work rethinks embodied exploration from a spatially explicit standpoint and introduces the spatial-inspection-guided ACtive Exploration (ACE) framework coupling evidence-grounded perception with exposure-informed movement and establishing a spatially resolved d...
| Authors | Wenbin Wang, Xiang Bai, Yizhao Wang et al. |
|---|---|
| Primary category | cs.RO |
| Published | 18 September 2026 |
| Last updated at source | 18 September 2026 |
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