{"id":"https://openalex.org/W4402353987","doi":"https://doi.org/10.15607/rss.2024.xx.089","title":"Explore until Confident: Efficient Exploration for Embodied Question Answering","display_name":"Explore until Confident: Efficient Exploration for Embodied Question Answering","publication_year":2024,"publication_date":"2024-07-15","ids":{"openalex":"https://openalex.org/W4402353987","doi":"https://doi.org/10.15607/rss.2024.xx.089"},"language":"en","primary_location":{"id":"doi:10.15607/rss.2024.xx.089","is_oa":true,"landing_page_url":"https://doi.org/10.15607/rss.2024.xx.089","pdf_url":"https://doi.org/10.15607/rss.2024.xx.089","source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics: Science and Systems XX","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.15607/rss.2024.xx.089","any_repository_has_fulltext":null},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5000576583","display_name":"Allen Z. Ren","orcid":null},"institutions":[{"id":"https://openalex.org/I20089843","display_name":"Princeton University","ror":"https://ror.org/00hx57361","country_code":"US","type":"education","lineage":["https://openalex.org/I20089843"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Allen Ren","raw_affiliation_strings":["Princeton University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Princeton University","institution_ids":["https://openalex.org/I20089843"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113373789","display_name":"Jaden Clark","orcid":null},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jaden Clark","raw_affiliation_strings":["Stanford University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Stanford University","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015731909","display_name":"Anushri Dixit","orcid":"https://orcid.org/0000-0002-9698-2189"},"institutions":[{"id":"https://openalex.org/I20089843","display_name":"Princeton University","ror":"https://ror.org/00hx57361","country_code":"US","type":"education","lineage":["https://openalex.org/I20089843"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Anushri Dixit","raw_affiliation_strings":["Princeton University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Princeton University","institution_ids":["https://openalex.org/I20089843"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032917230","display_name":"Masha Itkina","orcid":null},"institutions":[{"id":"https://openalex.org/I1293612202","display_name":"Toyota Motor Corporation (Switzerland)","ror":"https://ror.org/05p0pbv75","country_code":"CH","type":"company","lineage":["https://openalex.org/I1293612202","https://openalex.org/I4210125472","https://openalex.org/I4210137853"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Masha Itkina","raw_affiliation_strings":["Toyota Research Institute eqa.github.io"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Toyota Research Institute eqa.github.io","institution_ids":["https://openalex.org/I1293612202"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102792178","display_name":"Anirudha Majumdar","orcid":"https://orcid.org/0009-0002-2296-7485"},"institutions":[{"id":"https://openalex.org/I20089843","display_name":"Princeton University","ror":"https://ror.org/00hx57361","country_code":"US","type":"education","lineage":["https://openalex.org/I20089843"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Anirudha Majumdar","raw_affiliation_strings":["Princeton University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Princeton University","institution_ids":["https://openalex.org/I20089843"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080725225","display_name":"Dorsa Sadigh","orcid":"https://orcid.org/0000-0002-7802-9183"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dorsa Sadigh","raw_affiliation_strings":["Stanford University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Stanford University","institution_ids":["https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":7.2908,"has_fulltext":true,"cited_by_count":22,"citation_normalized_percentile":{"value":0.98020562,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10028","display_name":"Topic Modeling","score":0.993399977684021,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10028","display_name":"Topic Modeling","score":0.993399977684021,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T12031","display_name":"Speech and dialogue systems","score":0.9776999950408936,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10181","display_name":"Natural Language Processing Techniques","score":0.9440000057220459,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/embodied-cognition","display_name":"Embodied cognition","score":0.8989614248275757},{"id":"https://openalex.org/keywords/question-answering","display_name":"Question answering","score":0.8065696954727173},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.612760066986084},{"id":"https://openalex.org/keywords/data-science","display_name":"Data science","score":0.3202420473098755},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2714698910713196}],"concepts":[{"id":"https://openalex.org/C100609095","wikidata":"https://www.wikidata.org/wiki/Q1335050","display_name":"Embodied cognition","level":2,"score":0.8989614248275757},{"id":"https://openalex.org/C44291984","wikidata":"https://www.wikidata.org/wiki/Q1074173","display_name":"Question answering","level":2,"score":0.8065696954727173},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.612760066986084},{"id":"https://openalex.org/C2522767166","wikidata":"https://www.wikidata.org/wiki/Q2374463","display_name":"Data science","level":1,"score":0.3202420473098755},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2714698910713196}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.15607/rss.2024.xx.089","is_oa":true,"landing_page_url":"https://doi.org/10.15607/rss.2024.xx.089","pdf_url":"https://doi.org/10.15607/rss.2024.xx.089","source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics: Science and Systems XX","raw_type":"proceedings-article"}],"best_oa_location":{"id":"doi:10.15607/rss.2024.xx.089","is_oa":true,"landing_page_url":"https://doi.org/10.15607/rss.2024.xx.089","pdf_url":"https://doi.org/10.15607/rss.2024.xx.089","source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics: Science and Systems XX","raw_type":"proceedings-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2042506886","display_name":null,"funder_award_id":"N00014-23-1-2148","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"},{"id":"https://openalex.org/G2738933117","display_name":"CAREER: Generalization and Safety Guarantees for Learning-Based Control of Robots","funder_award_id":"2044149","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G4654258232","display_name":null,"funder_award_id":"W911NF2210214","funder_id":"https://openalex.org/F4320332180","funder_display_name":"Defense Advanced Research Projects Agency"},{"id":"https://openalex.org/G4720003262","display_name":null,"funder_award_id":"N00014-22","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"},{"id":"https://openalex.org/G6022427645","display_name":"CAREER: Safe and Influencing Interactions for Human-Robot Systems","funder_award_id":"1941722","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G6671297155","display_name":null,"funder_award_id":"CAREER","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G8876996369","display_name":null,"funder_award_id":"N00014","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320315934","display_name":"Toyota Research Institute","ror":null},{"id":"https://openalex.org/F4320332180","display_name":"Defense Advanced Research Projects Agency","ror":"https://ror.org/02caytj08"},{"id":"https://openalex.org/F4320332815","display_name":"Advanced Research Projects Agency","ror":"https://ror.org/02caytj08"},{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4402353987.pdf","grobid_xml":"https://content.openalex.org/works/W4402353987.grobid-xml"},"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2380179524","https://openalex.org/W4283365723","https://openalex.org/W2963001125","https://openalex.org/W2091233881","https://openalex.org/W2352366064","https://openalex.org/W4250820896","https://openalex.org/W2124102101","https://openalex.org/W4250305970"],"abstract_inverted_index":{"We":[0],"consider":[1],"the":[2,35,44,80,101,119,140,150,156,194,210,230,233],"problem":[3],"of":[4,49,118,129,136,139],"Embodied":[5],"Question":[6],"Answering":[7],"(EQA),":[8],"which":[9],"refers":[10],"to":[11,22,27,37,54,82,85,88,103,148,158,161,165],"settings":[12],"where":[13],"an":[14,25,75],"embodied":[15],"agent":[16],"such":[17,59],"as":[18],"a":[19,38,110,115,130,166,181],"robot":[20,102,157,203],"needs":[21],"actively":[23],"explore":[24,56,89],"environment":[26],"gather":[28],"information":[29,124],"until":[30],"it":[31],"is":[32],"confident":[33],"about":[34],"answer":[36,58],"question.In":[39],"this":[40],"work,":[41],"we":[42,144,178],"leverage":[43,219],"strong":[45],"semantic":[46,116],"reasoning":[47],"capabilities":[48],"large":[50],"vision-language":[51],"models":[52],"(VLMs)":[53],"efficiently":[55],"and":[57,92,98,125,169,190,201,212],"questions.However,":[60],"there":[61],"are":[62],"two":[63],"main":[64],"challenges":[65],"when":[66,160],"using":[67],"VLMs":[68],"in":[69,176,232],"EQA:":[70],"they":[71],"do":[72,217,224],"not":[73,225],"have":[74],"internal":[76],"memory":[77],"for":[78,142,221],"mapping":[79],"scene":[81,120,141],"be":[83,96],"able":[84],"plan":[86],"how":[87],"over":[90,214],"time,":[91],"their":[93],"confidence":[94],"can":[95,99],"miscalibrated":[97],"cause":[100],"prematurely":[104],"stop":[105,162],"exploration":[106,163,171,222],"or":[107,223],"over-explore.We":[108],"propose":[109],"method":[111],"that":[112,216],"first":[113],"builds":[114],"map":[117],"based":[121],"on":[122],"depth":[123],"via":[126],"visual":[127],"prompting":[128],"VLM":[131,220],"-leveraging":[132],"its":[133,227],"vast":[134],"knowledge":[135],"relevant":[137],"regions":[138],"exploration.Next,":[143],"use":[145],"conformal":[146],"prediction":[147],"calibrate":[149,226],"VLM's":[151],"question":[152],"answering":[153],"confidence,":[154],"allowing":[155],"know":[159],"-leading":[164],"more":[167],"calibrated":[168],"efficient":[170],"strategy.To":[172],"test":[173],"our":[174,206],"framework":[175],"simulation,":[177],"also":[179],"contribute":[180],"new":[182],"EQA":[183],"dataset":[184],"with":[185],"diverse,":[186],"realistic":[187],"human-robot":[188],"scenarios":[189],"scenes":[191],"built":[192],"upon":[193],"Habitat-Matterport":[195],"3D":[196],"Research":[197],"Dataset":[198],"(HM3D).Both":[199],"simulated":[200],"real":[202],"experiments":[204],"show":[205],"proposed":[207],"approach":[208],"improves":[209],"performance":[211],"efficiency":[213],"baselines":[215],"no":[218],"confidence.":[228],"Is":[229],"dishwasher":[231],"kitchen":[234],"open?":[235],"A)":[236],"Yes":[237],"B)":[238],"NoStop?":[239]},"counts_by_year":[{"year":2026,"cited_by_count":6},{"year":2025,"cited_by_count":15},{"year":2024,"cited_by_count":1}],"updated_date":"2026-08-18T07:49:30.821534","created_date":"2025-10-10T00:00:00"}
