信念に基づく行動と必要時の知覚：断続的知覚下のナビゲーションのためのベイズ空間世界モデル
Acting from Belief, Looking When Needed: A Bayesian Spatial World Model for Navigation under Intermittent Perception
共有センサが他タスクに使われ知覚が断続的になる状況で、ベイズ空間世界モデルにより内部信念から行動し、必要な時だけ観測を要求するナビゲーション手法ALONEを提案。ドローン実験で高い成功率と極めて少ない観測頻度を実現した。
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著者: Feihong Yang, Xiang Long, Jincheng Yu, Jianfei Zhang, Guangjun Ge, Chao Wang, Yu Wang
分類: cs.RO
原文アブストラクト
Robot navigation commonly uses wide-coverage, high-frequency sensing to reduce partial observability; this reliance becomes restrictive when another task temporarily redirects a shared sensor from navigation, interrupting navigation-relevant observations. We study navigation under intermittent perception: acting from an internal spatial belief and looking again only when execution needs a new observation, potentially freeing the shared sensor for other tasks between navigation observations. ALONE, a Bayesian spatial world model, propagates a structured spatial belief using executed actions and corrects it with selectively acquired observations; learned priors over common geometric structures infer unobserved structure from available observation history. It decodes the belief into a spatial estimate for the motion-planning module and predicts a reliability map expressing confidence in the estimate's accuracy. ALONE requests an observation only if insufficient reliability hinders navigation and new evidence should make relevant-region spatial information more reliable; otherwise, it continues acting from the propagated belief. We instantiate ALONE for drone navigation with intermittent single-camera depth images. Across two simulated scene families, it achieves 98% and 97% closed-loop success at a 10 Hz decision rate. Among successful trials, median fractions of decision steps requiring a new depth observation are only 0.9% and 1.3%, respectively, demonstrating high navigation success with substantially reduced observation demand. Real-world indoor flight experiments further validate navigation under intermittent depth observations, with all 10 trials successful.
