Searcharxiv⌕ Search
Home/Archive/arXiv

arXiv · 2610.00188

Uncertainty-Aware RL-Controlled Adaptive 3D Mapping

Alpay Ozkan·Tunc Ozan Aydin·Marc Pollefeys·Jelena Trisovic·Daniel Barath
View original source ↗Read source document ↗Export metadata ↓

Abstract

Voxel-based volumetric mapping is fundamental to 3D reconstruction, yet fixed-resolution grids remain inherently inefficient - wasting memory in uniform regions and losing detail in complex ones. Existing adaptive methods, such as MAP-ADAPT, partially address this by varying resolution based on geometry and user-defined semantic class lists, but these heuristics require expert tuning, lack generalization to unseen objects, and provide no explicit mechanism to control memory usage. We propose an adaptive framework that refines voxels based on semantic entropy, which captures label uncertainty, together with geometric curvature and texture richness as scene complexity cues, yielding principled resolution allocation without reliance on semantic taxonomies. To make the accuracy-memory trade-off explicit and user-controlled, we further introduce a reinforcement learning agent that learns voxel subdivision policies under a user-specified target memory budget, replacing hand-tuned thresholds with a single intuitive control parameter. The resulting multi-resolution TSDF achieves higher geometric accuracy, better semantic consistency, and improved memory-accuracy trade-offs compared to MAP-ADAPT and fixed-resolution baselines on both synthetic and real-world datasets. Our code and models are available at https://github.com/alpayozkan/UnRL.

Explore related subjects

cs.LGcs.CVcs.GReess.IV

Keep this discovery

Explore connections, maps & timelines

BibTeXRIS

Alpay Ozkan, Tunc Ozan Aydin, Marc Pollefeys, Jelena Trisovic, Daniel Barath. 2026-09-17. Uncertainty-Aware RL-Controlled Adaptive 3D Mapping. https://arxiv.org/abs/2610.00188

Cite the original work for its findings. Save a collection to share your selection of sources.

KEEP EXPLORING

Related papers

arXiv2026

Dynamic Strategy Selection

We consider the problem of dynamically selecting among competing strategies using observable predictors. To mitigate estimation noise and excessive switching, we regularise the estimated policy with a switching cost, which may exceed actual transaction costs when these are too small to provide sufficient regularisation. Since switching costs make current choices affect future decisions, we formulate the problem using dynamic programming. The optimal policy is estimated using a reinforcement learning algorithm based on iterated regressions, making the procedure simple to implement. We apply the method to monthly rotation among momentum, value, profitability, and defensive U.S. equity factors over a sample of about 60 years. Using a parsimonious set of state variables, the estimated policy outperforms both the myopic dynamic policy and the best fixed factor in hindsight in out-of-sample evaluation. Under weak conditions, we show theoretically that the decision rule estimated from empirical data is asymptotically consistent for the unknown optimal decision rule. Simulation results illustrate the finite-sample relevance of these asymptotic results.

cs.LG↗
arXiv2026

Mamba Hawkes Process for Event Sequence Modeling

Modeling asynchronous event sequences is crucial in numerous real-world applications such as healthcare monitoring, financial transaction analysis, and so on. Traditional temporal point processes, including Hawkes Processes, often fail to capture complex dependencies due to their parametric limitations. While neural approaches like RNNs and Transformers have improved flexibility, they struggle with computational inefficiency, and attention saturation. In this paper, we introduce the Mamba Hawkes Process (MHP), the first framework to integrate selective state space model (Mamba) with temporal point processes. MHP leverages time-varying state transitions and input-dependent gating to efficiently encode event history and capture long-term dependencies with linear complexity. Importantly, we provide theoretical guarantees showing that MHP generalizes both classical multi-exponential Hawkes processes and exponential-decay gated RNNs, underscoring its expressive power and theoretical soundness. To address the inherent constraints of pure state space models in handling heterogeneous event interactions, we further develop Adaptive Mamba Hawkes Process (A-MHP) that incorporates two novel mechanisms: a Time-Scaling Mechanism that adaptively weights time intervals based on event type and history, and a Dual-Channel State Transition that adaptively processes event content and temporal dynamics for more refined state updates. Extensive experiments on synthetic and realworld datasets demonstrate that MHP and A-MHP consistently outperform state-of-the-art baselines in event prediction tasks, particularly in long-sequence scenarios. Our work establishes a scalable and theoretically grounded paradigm for event sequence modeling, with practical implications for predictive maintenance, anomaly detection, and dynamic system analysis.

cs.LG↗
arXiv2026

The Price of Failure Risk: Clipped Barrier Policy Gradients with Convex Regularization

In many control problems, actions consume a resource budget, such as a wear allowance, and the probability of exhausting it within a given horizon must stay below a tolerance. A simple, widely used approach is to augment the state with the remaining budget, subtract an interior barrier from the utility and penalize exhaustion, so that policy-gradient methods can be applied unchanged. We clip the combined one-step reward from below at a level m to keep the returns of exploratory policies finite. The clip level is a price of failure risk, since the clipped value decomposes exactly into the utility before failure, the cost of the interior margin and m times a geometric failure risk. Consequently, an approximately optimal policy maximizes utility net of margin cost among policies with no greater risk. Its risk exceeds that of any comparison policy by at most order 1/m and can be certified from its value or from validation data. Our main result proves exponential convergence of the population policy-gradient flow for every parameter regularizer that is convex along generalized geodesics and sufficiently strong relative to the price. This extends the mean-field analysis from relative entropy to weight decay and to finite networks. Relative entropy adds parameter noise and a pull toward a prior, whereas weight decay provides only the pull. Action regularization bounds changes in failure risk by the relative entropy to a reference policy. The bounds are evaluated on an exact maintenance benchmark, a fuel-tank controller, a solvable flow and a benchmark-suite task.

cs.LG↗