Papers › Active Perception using Neural Radiance Fields

Active Perception using Neural Radiance Fields

15 Oct 2023arXiv:2310.09892links table onlyarchive 2025-07-28

Siming He, Christopher D. Hsu, Dexter Ong, Yifei Simon Shao, Pratik Chaudhari

The archive published only this paper's code-link row. Authors, date and abstract are from arXiv's metadata (CC0), read from the Kaggle arXiv metadata snapshot of 2026-09-12 where its title matched the archive's; the title is the archive's.

We study active perception from first principles to argue that an autonomous agent performing active perception should maximize the mutual information that past observations posses about future ones. Doing so requires (a) a representation of the scene that summarizes past observations and the ability to update this representation to incorporate new observations (state estimation and mapping), (b) the ability to synthesize new observations of the scene (a generative model), and (c) the ability to select control trajectories that maximize predictive information (planning). This motivates a neural radiance field (NeRF)-like representation which captures photometric, geometric and semantic properties of the scene grounded. This representation is well-suited to synthesizing new observations from different viewpoints. And thereby, a sampling-based planner can be used to calculate the predictive information from synthetic observations along dynamically-feasible trajectories. We use active perception for exploring cluttered indoor environments and employ a notion of semantic uncertainty to check for the successful completion of an exploration task. We demonstrate these ideas via simulation in realistic 3D indoor environments.

Code

Repository list and official/mentioned flags are the archive's, frozen 2025-07-28. Reachability, where shown, is from one Syntology probe window (2026-09-16 to 2026-09-18); repositories not probed show nothing. GitHub stars are not tracked.

Code Syntology ran Syntology

5 samples harvested; 4 ran; 0 honoured the contract we drafted; 1 has no recorded run. Read from Syntology's graph 2026-09-24; that is when this build read the record, not when the samples ran.

Licence: 5 of the 5 samples are pointer only, meaning Syntology does not serve that copy's text. This page shows no code text for any sample; each one links to its file in the repository.

Harvested from grasp-lyrl/active-perception-using-neural-radiance-fields. “Ran” means the sample executed on a synthesized input. It does not mean the output is correct, and nothing here reproduces the paper's results. “Honoured” and “violated” refer to a contract Syntology drafted from the code itself; “our draft was wrong” and “fixture could not drive it” are failures of Syntology's instrument, not of the code.

Each sample ends with its code_sha256, Syntology's identity for that exact code. An agent fetches the stored sample with Syntology's MCP tool get_code(code_sha256="…") (how to connect); click an identity to copy that call.

Repository labels, per sample. official repository: The archive marks this repository official for the paper. named in the paper: The archive records that the paper mentions this repository; it is not marked official. community (archive-listed): In the archive's code links for this paper, not marked official and not recorded as mentioned in the paper. found in paper text by Syntology: Syntology found this repository in the paper's own text; whether it is the authors' implementation is not asserted. community: Not in the archive's code links for this paper; a community repository Syntology harvested. Samples from a repository marked official are listed first. Licence labels name the repository's licence as recorded at harvest. “Pointer only” means Syntology does not serve that copy's text, for one of four reasons: no licence file was found; the licence was not identified; the licence is recorded as permissive but that copy's record is not marked cleared; or the licence is outside the permissive list Syntology serves text under (MIT, Apache-2.0, BSD and similar). Some licences outside that list permit redistribution, such as WTFPL, and GPL-3.0 under its conditions; they are simply not on the list. Hover a licence label for the reason. File links open the file on GitHub at the default branch, which may have changed since the harvest.

Results from the paper archive 2025-07-28

No leaderboard rows for this paper in the archive.

Report a problem or propose a change · a person checks every report against the paper or source before anything changes; decisions are listed on /corrections