N2 Rl Active Perception
- K2E-B-N2-1RL Meets Visual OdometryMar 7, 2026
Paper note on RL Meets Visual Odometry — PPO agent adapting keyframe insertion and feature grid size for SVO/DSO/ORB-SLAM3 pipelines online; up to 19% ATE improvement on EuRoC/TUM-RGBD (ECCV 2024)
- K2E-B-N2-5MapEx: Probabilistic Information Gain from Global Map PredictionsJul 19, 2026
MapEx paper note — indoor exploration that scores frontiers by *probabilistic* information gain: an ensemble of LaMa inpainting nets predicts the global map, a probabilistic raycast estimates what a viewpoint can actually see, and the gain is the predicted-map variance inside that visibility mask; +25.4% over nearest-frontier and +12.4% over map-prediction baselines on the KTH floor plans (ICRA 2025)
- K2E-B-N2-6PIPE Planner: Pathwise Information Gain with Map PredictionsJul 19, 2026
PIPE Planner paper note — scores frontiers by information gain integrated along the whole A* path rather than at the endpoint, using map predictions to stop pathwise coverage from being overestimated; a polygon-union trick replaces per-step flood fills (83.3% compute cut on large maps) and it reaches 90/95% IoU fastest with zero failures on KTH floor plans