{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/next-best-view-estimation-based-on-deep","title":"Next-Best-View Estimation based on Deep Reinforcement Learning for Active Object Classification","arxiv_id":"2110.06766","date":"2021-10-13","proceeding":null,"authors":["Christian Korbach","Markus D. Solbach","Raphael Memmesheimer","Dietrich Paulus","John K. Tsotsos"],"abstract":"The presentation and analysis of image data from a single viewpoint are often not sufficient to solve a task. Several viewpoints are necessary to obtain more information. The next-best-view problem attempts to find the optimal viewpoint with the greatest information gain for the underlying task. In this work, a robot arm holds an object in its end-effector and searches for a sequence of next-best-view to explicitly identify the object. We use Soft Actor-Critic (SAC), a method of deep reinforcement learning, to learn these next-best-views for a specific set of objects. The evaluation shows that an agent can learn to determine an object pose to which the robot arm should move an object. This leads to a viewpoint that provides a more accurate prediction to distinguish such an object from other objects better. We make the code publicly available for the scientific community and for reproducibility.","url_abs":"https://arxiv.org/abs/2110.06766v2","url_pdf":"https://arxiv.org/pdf/2110.06766v2.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"next-best-view-estimation-based-on-deep","repo_url":"https://github.com/ckorbach/nbv_rl","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":0,"framework":"none","reach":null}],"tasks":[{"task_slug":"deep-reinforcement-learning","task_name":"Deep Reinforcement Learning"},{"task_slug":"object","task_name":"Object"},{"task_slug":"reinforcement-learning-1","task_name":"Reinforcement Learning (RL)"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}