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arXiv · 2303.06457

Active Visual Exploration Based on Attention-Map Entropy

Adam Pardyl·Grzegorz Rypeść·Grzegorz Kurzejamski·Bartosz Zieliński·Tomasz Trzciński
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Abstract

Active visual exploration addresses the issue of limited sensor capabilities in real-world scenarios, where successive observations are actively chosen based on the environment. To tackle this problem, we introduce a new technique called Attention-Map Entropy (AME). It leverages the internal uncertainty of the transformer-based model to determine the most informative observations. In contrast to existing solutions, it does not require additional loss components, which simplifies the training. Through experiments, which also mimic retina-like sensors, we show that such simplified training significantly improves the performance of reconstruction, segmentation and classification on publicly available datasets.

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Adam Pardyl, Grzegorz Rypeść, Grzegorz Kurzejamski, Bartosz Zieliński, Tomasz Trzciński. 2023-03-11. Active Visual Exploration Based on Attention-Map Entropy. https://arxiv.org/abs/2303.06457

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