Perception Beyond the Visible: Incompleteness-Aware Scene Understanding for Robot Autonomy
Reliable robot autonomy requires reasoning about the world from partial and noisy observations. However, many perception systems model only visible scene regions, rely on fixed semantic categories, and assume reliable sensor measurements. These assumptions break under occlusion, novel object encounters, and sensor degradation. In this paper, I present a research vision for incompleteness-aware scene understanding. I organize this vision around three fundamental challenges: incomplete evidence, incomplete knowledge, and incomplete sensor reliability. I discuss my research contributions toward addressing these challenges through amodal perception, semantic occupancy forecasting, open-world ...
| Authors | Rohit Mohan |
|---|---|
| Primary category | cs.RO |
| Published | 13 October 2026 |
| Last updated at source | 13 October 2026 |
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