All Roads Lead to Rome: Flow-driven Multi-Anchor Exploration for Open-Environment Active 3D Mapping

arXiv:2609.36889 · cs.RO · Submitted 2026-09-29 · Read on arXiv

cs.RO

Submitted: 2026-09-29

Updated: 2026-09-29

Terminology

• Generalization — 18× in this paper · explained in 13 episodes
• Flow Matching — 14× in this paper · explained in 8 episodes
• AUC — 13× in this paper · explained in 2 episodes
• Conditional Flow Matching — 8× in this paper
• Core — 7× in this paper · explained in 2 episodes
• Clustering — 6× in this paper · explained in 2 episodes
• Benchmark — 5× in this paper · explained in 2 episodes
• Redundancy — 4× in this paper · explained in 2 episodes
• Generative Modeling — 2× in this paper · explained in 3 episodes
• Institutional Review Board — 2× in this paper
• Robustness — 2× in this paper · explained in 5 episodes
• Ablation — 1× in this paper · explained in 1 episode
• Ablation study — 1× in this paper · explained in 1 episode
• Consistency — 1× in this paper · explained in 3 episodes
• Decoupling — 1× in this paper · explained in 2 episodes
• Generative Model — 1× in this paper · explained in 2 episodes
• Generative Models — 1× in this paper · explained in 2 episodes
• Grounding — 1× in this paper · explained in 3 episodes
• Mode Collapse — 1× in this paper · explained in 2 episodes
• Regularization — 1× in this paper · explained in 3 episodes
• Zero-Shot Transfer — 1× in this paper · explained in 4 episodes

Sources

• iSDF: Real-Time Neural Signed Distance Fields for Robot Perception
• Flow Matching for Generative Modeling
• SafeFlowMatcher: Safe and Fast Planning using Flow Matching with Control Barrier Functions
• Matterport3D: Learning from RGB-D Data in Indoor Environments

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