Pose-aware Legged Robot Semantic Exploration with Omnidirectional Perception in Confined Unknown Environments

arXiv:2609.19460 · cs.RO · Submitted 2026-09-16 · Read on arXiv

cs.RO

Submitted: 2026-09-16

Updated: 2026-09-16

Code: https://github.com/ultralytics/yolov8

Terminology

• AUC — 27× in this paper · explained in 2 episodes
• Pruning — 15× in this paper · explained in 4 episodes
• IEEE International Conference on Robotics and Automation — 4× in this paper
• Ablation — 3× in this paper · explained in 1 episode
• Active Perception — 3× in this paper · explained in 2 episodes
• Instance Segmentation — 3× in this paper · explained in 3 episodes
• Benchmark — 2× in this paper · explained in 2 episodes
• Ablation Studies — 1× in this paper · explained in 1 episode
• Ablation study — 1× in this paper · explained in 1 episode
• Calibration — 1× in this paper · explained in 7 episodes
• Core — 1× in this paper · explained in 2 episodes
• Digital Twin — 1× in this paper · explained in 5 episodes
• Hierarchical Framework — 1× in this paper · explained in 2 episodes
• Information Gain — 1× in this paper · explained in 2 episodes
• Redundancy — 1× in this paper · explained in 2 episodes
• Vision-Language Model (VLM) — 1× in this paper · explained in 3 episodes
• Vision-language models — 1× in this paper · explained in 2 episodes

Sources

• SGE: Semantically-Guided Exploration for Unstructured Environments via Image-Space Waypoint Sampling
• TravExplorer: Cross-Floor Embodied Exploration via Traversability-Aware 3-D Planning
• OmniPlanner: Universal Exploration and Inspection Path Planning Across Robot Morphologies
• OA-NBV: Occlusion-Aware Next-Best-View Planning for Human-Centered Active Perception on Mobile Robots
• Scene Exploration by Vision-Language Models
• Look, Zoom, Understand: The Robotic Eyeball for Embodied Perception

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