{"id":"https://openalex.org/W4405786967","doi":"https://doi.org/10.1109/iros58592.2024.10802101","title":"AutoNeRF: Training Implicit Scene Representations with Autonomous Agents","display_name":"AutoNeRF: Training Implicit Scene Representations with Autonomous Agents","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405786967","doi":"https://doi.org/10.1109/iros58592.2024.10802101"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10802101","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802101","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5073547305","display_name":"Pierre Marza","orcid":null},"institutions":[{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en sciences et technologies du num\u00e9rique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"government","lineage":["https://openalex.org/I1326498283"]},{"id":"https://openalex.org/I48430043","display_name":"Institut National des Sciences Appliqu\u00e9es de Lyon","ror":"https://ror.org/050jn9y42","country_code":"FR","type":"education","lineage":["https://openalex.org/I203339264","https://openalex.org/I48430043"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Pierre Marza","raw_affiliation_strings":["INSA Lyon,CITI Lab, INRIA Chroma Team"],"affiliations":[{"raw_affiliation_string":"INSA Lyon,CITI Lab, INRIA Chroma Team","institution_ids":["https://openalex.org/I48430043","https://openalex.org/I1326498283"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062069838","display_name":"La\u00ebtitia Matignon","orcid":"https://orcid.org/0000-0001-7126-8715"},"institutions":[{"id":"https://openalex.org/I4210155607","display_name":"Laboratoire d'Informatique en Images et Syst\u00e8mes d'Information","ror":"https://ror.org/04dv4he91","country_code":"FR","type":"facility","lineage":["https://openalex.org/I100532134","https://openalex.org/I112936343","https://openalex.org/I1294671590","https://openalex.org/I188626449","https://openalex.org/I203339264","https://openalex.org/I203339264","https://openalex.org/I203339264","https://openalex.org/I203339264","https://openalex.org/I4210155607","https://openalex.org/I48430043"]},{"id":"https://openalex.org/I48430043","display_name":"Institut National des Sciences Appliqu\u00e9es de Lyon","ror":"https://ror.org/050jn9y42","country_code":"FR","type":"education","lineage":["https://openalex.org/I203339264","https://openalex.org/I48430043"]},{"id":"https://openalex.org/I100532134","display_name":"Universit\u00e9 Claude Bernard Lyon 1","ror":"https://ror.org/029brtt94","country_code":"FR","type":"education","lineage":["https://openalex.org/I100532134","https://openalex.org/I203339264"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Laetitia Matignon","raw_affiliation_strings":["Univ Lyon,UCBL, CNRS, INSA Lyon, LIRIS,F-69622"],"affiliations":[{"raw_affiliation_string":"Univ Lyon,UCBL, CNRS, INSA Lyon, LIRIS,F-69622","institution_ids":["https://openalex.org/I48430043","https://openalex.org/I100532134","https://openalex.org/I1294671590","https://openalex.org/I4210155607"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103157757","display_name":"Olivier Simonin","orcid":"https://orcid.org/0000-0002-3070-7790"},"institutions":[{"id":"https://openalex.org/I48430043","display_name":"Institut National des Sciences Appliqu\u00e9es de Lyon","ror":"https://ror.org/050jn9y42","country_code":"FR","type":"education","lineage":["https://openalex.org/I203339264","https://openalex.org/I48430043"]},{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en sciences et technologies du num\u00e9rique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"government","lineage":["https://openalex.org/I1326498283"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Olivier Simonin","raw_affiliation_strings":["INSA Lyon,CITI Lab, INRIA Chroma Team"],"affiliations":[{"raw_affiliation_string":"INSA Lyon,CITI Lab, INRIA Chroma Team","institution_ids":["https://openalex.org/I48430043","https://openalex.org/I1326498283"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014035752","display_name":"Dhruv Batra","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Dhruv Batra","raw_affiliation_strings":["Meta AI"],"affiliations":[{"raw_affiliation_string":"Meta AI","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015837326","display_name":"Christian Wolf","orcid":"https://orcid.org/0000-0002-4569-016X"},"institutions":[{"id":"https://openalex.org/I60922564","display_name":"Naver (South Korea)","ror":"https://ror.org/04nzrnx83","country_code":"KR","type":"company","lineage":["https://openalex.org/I60922564"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Christian Wolf","raw_affiliation_strings":["Naver Labs Europe"],"affiliations":[{"raw_affiliation_string":"Naver Labs Europe","institution_ids":["https://openalex.org/I60922564"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5016223957","display_name":"Devendra Singh Chaplot","orcid":null},"institutions":[{"id":"https://openalex.org/I4390039361","display_name":"Mistral AI (France)","ror":"https://ror.org/05w9p7918","country_code":null,"type":"company","lineage":["https://openalex.org/I4390039361"]}],"countries":[],"is_corresponding":false,"raw_author_name":"Devendra S. Chaplot","raw_affiliation_strings":["Mistral AI"],"affiliations":[{"raw_affiliation_string":"Mistral AI","institution_ids":["https://openalex.org/I4390039361"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5073547305"],"corresponding_institution_ids":["https://openalex.org/I1326498283","https://openalex.org/I48430043"],"apc_list":null,"apc_paid":null,"fwci":0.9898,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.78376068,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"13442","last_page":"13449"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9962000250816345,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9962000250816345,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.9854999780654907,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.9854000210762024,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7734348773956299},{"id":"https://openalex.org/keywords/training","display_name":"Training (meteorology)","score":0.7621555328369141},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5439888834953308},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.39701685309410095},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.38606950640678406}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7734348773956299},{"id":"https://openalex.org/C2777211547","wikidata":"https://www.wikidata.org/wiki/Q17141490","display_name":"Training (meteorology)","level":2,"score":0.7621555328369141},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5439888834953308},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.39701685309410095},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.38606950640678406},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C153294291","wikidata":"https://www.wikidata.org/wiki/Q25261","display_name":"Meteorology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10802101","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802101","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/10","display_name":"Reduced inequalities","score":0.41999998688697815}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":46,"referenced_works":["https://openalex.org/W1861492603","https://openalex.org/W2082219174","https://openalex.org/W2107667896","https://openalex.org/W2736601468","https://openalex.org/W2768147481","https://openalex.org/W2884565639","https://openalex.org/W2953127211","https://openalex.org/W2962785568","https://openalex.org/W2963150697","https://openalex.org/W2963627347","https://openalex.org/W3009928773","https://openalex.org/W3011144238","https://openalex.org/W3034728521","https://openalex.org/W3109585842","https://openalex.org/W3112108866","https://openalex.org/W3134025030","https://openalex.org/W3176368002","https://openalex.org/W3210613940","https://openalex.org/W4210985923","https://openalex.org/W4214768561","https://openalex.org/W4221151978","https://openalex.org/W4226164701","https://openalex.org/W4286901425","https://openalex.org/W4286905705","https://openalex.org/W4303697778","https://openalex.org/W4309953435","https://openalex.org/W4312357798","https://openalex.org/W4312790183","https://openalex.org/W4312878643","https://openalex.org/W4313180266","https://openalex.org/W4378450585","https://openalex.org/W4382362889","https://openalex.org/W4383097649","https://openalex.org/W4386076472","https://openalex.org/W4390872753","https://openalex.org/W4390873494","https://openalex.org/W4399574562","https://openalex.org/W6741002519","https://openalex.org/W6753516098","https://openalex.org/W6758824984","https://openalex.org/W6774815639","https://openalex.org/W6802203484","https://openalex.org/W6803012412","https://openalex.org/W6803600046","https://openalex.org/W6843568307","https://openalex.org/W6846415471"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"Implicit":[0],"representations":[1],"such":[2],"as":[3],"Neural":[4],"Radiance":[5],"Fields":[6],"(NeRF)":[7],"allow":[8],"to":[9,56,124,183,197],"map":[10,79,97],"color,":[11],"density":[12],"and":[13,30,100,113,117,150,188,206],"semantics":[14],"in":[15,146],"a":[16,20,75,141,153,163,184,201],"3D":[17,61],"scene":[18,187,199],"through":[19,200],"continuous":[21],"neural":[22,77],"function.":[23],"However,":[24],"these":[25],"models":[26],"typically":[27],"require":[28],"manual":[29],"careful":[31],"human":[32],"data":[33,66,138],"collection":[34],"for":[35,45,166],"training.":[36],"This":[37],"paper":[38],"addresses":[39],"the":[40,65,72,84,105,167,198],"problem":[41],"of":[42,74,83,107,144,203],"active":[43],"exploration":[44,70,109,155],"autonomous":[46,69],"NeRF":[47,165],"construction.":[48],"We":[49,103],"study":[50],"how":[51],"an":[52,59,147,178],"agent":[53,179],"can":[54,132,180],"learn":[55],"efficiently":[57],"explore":[58],"unknown":[60,186],"environment":[62,149],"so":[63],"that":[64,130,151,175],"collected":[67,137],"during":[68],"enables":[71,161],"learning":[73],"high-quality":[76],"implicit":[78],"representation.":[80],"The":[81],"quality":[82],"learned":[85],"representation":[86],"is":[87],"evaluated":[88],"on":[89,135],"four":[90],"robotics-related":[91],"downstream":[92,169],"tasks:":[93],"classical":[94],"viewpoint":[95],"rendering,":[96],"reconstruction,":[98,205],"planning,":[99],"pose":[101],"refinement.":[102],"compare":[104],"impact":[106],"different":[108,120],"strategies":[110],"including":[111],"frontier-based":[112],"learning-based":[114],"approaches":[115],"(end-to-end":[116],"modular)":[118],"with":[119,158,176],"reward":[121],"functions":[122],"tailored":[123],"this":[125],"problem.":[126],"Empirical":[127],"results":[128],"show":[129,174],"NeRFs":[131],"be":[133,181],"trained":[134,157],"actively":[136],"using":[139],"just":[140],"single":[142],"episode":[143],"experience":[145],"unseen":[148],"AutoNeRF,":[152],"modular":[154],"policy":[156,207],"reinforcement":[159],"learning,":[160],"obtaining":[162],"higher-quality":[164],"considered":[168],"robotic":[170],"tasks.":[171],"Finally,":[172],"we":[173],"AutoNeRF":[177],"deployed":[182],"previously":[185],"then":[189],"automatically":[190],"improve":[191],"its":[192],"navigation":[193],"performance":[194],"by":[195],"adapting":[196],"cycle":[202],"exploration,":[204],"finetuning.":[208]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3}],"updated_date":"2026-04-02T15:55:50.835912","created_date":"2025-10-10T00:00:00"}