Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Planning Beyond the Sensing Horizon Using a Learned Context   Last-mile delivery systems commonly propose the use of autonomous robotic
vehicles to increase scalability and efficiency. The economic inefficiency of
collecting accurate prior maps for navigation motivates the use of planning
algorithms that operate in unmapped environments. However, these algorithms
typically waste time exploring regions that are unlikely to contain the
delivery destination. Context is key information about structured environments
that could guide exploration toward the unknown goal location, but the abstract
idea is difficult to quantify for use in a planning algorithm. Some approaches
specifically consider contextual relationships between objects, but would
perform poorly in object-sparse environments like outdoors. Recent deep
learning-based approaches consider context too generally, making
training/transferability difficult. Therefore, this work proposes a novel
formulation of utilizing context for planning as an image-to-image translation
problem, which is shown to extract terrain context from semantic gridmaps, into
a metric that an exploration-based planner can use. The proposed framework has
the benefit of training on a static dataset instead of requiring a
time-consuming simulator. Across 42 test houses with layouts from satellite
images, the trained algorithm enables a robot to reach its goal 189\% faster
than with a context-unaware planner, and within 63\% of the optimal path
computed with a prior map. The proposed algorithm is also implemented on a
vehicle with a forward-facing camera in a high-fidelity, Unreal simulation of
neighborhood houses.

20
The categories of this paper are: acc-phys
25
The categories of this paper are: patt-sol
17
The categories of this paper are: q-fin
11
The categories of this paper are: hep-lat
14
The categories of this paper are: math-ph
26
The categories of this paper are: bayes-an
6
The categories of this paper are: astro-ph
23
The categories of this paper are: solv-int
35
The categories of this paper are: mtrl-th
3
The categories of this paper are: physics
4
The categories of this paper are: cond-mat
34
The categories of this paper are: chem-ph
5
The categories of this paper are: gr-qc
27
The categories of this paper are: comp-gas
7
The categories of this paper are: hep-th
32
The categories of this paper are: atom-ph