Language-guided Semantic Mapping and Mobile Manipulation in Partially Observable Environments
Table 1: Computational efficiency with adaptive (AP, ours) and exhaustive perception (EP).
['[EMPTY]', 'AP Controlled', 'EP Controlled', 'AP Exploratory', 'EP Exploratory']
The impact of adaptive perception on the compactness of the generated world models is emphasized more for the indoor experiment as the indoor environment contained a higher number of objects (24 vs. 9). As behavior inference is performed on each hypothesized world model in the distribution, the efficiency gains provided by adaptive perception would enable reasoning over more number of environment hypotheses in the same amount of time. This is important as it allows for maintaining more particles and thus more efficient exploration.