Tootfinder

Sight Over Site: Perception-Aware Reinforcement Learning for Efficient Robotic Inspection
Richard Kuhlmann, Jakob Wolfram, Boyang Sun, Jiaxu Xing, Davide Scaramuzza, Marc Pollefeys, Cesar Cadena
https://arxiv.org/abs/2509.17877

Sight Over Site: Perception-Aware Reinforcement Learning for Efficient Robotic Inspection
Autonomous inspection is a central problem in robotics, with applications ranging from industrial monitoring to search-and-rescue. Traditionally, inspection has often been reduced to navigation tasks, where the objective is to reach a predefined location while avoiding obstacles. However, this formulation captures only part of the real inspection problem. In real-world environments, the inspection targets may become visible well before their exact coordinates are reached, making further movemen…