

























Active Visual Exploration (AVE) optimizes the utilization of robotic resources in real-world scenarios by sequentially selecting the most informative observations. However, modern methods require a high computational budget due to processing the same observations multiple times through the autoencoder transformers. As a remedy, we introduce a novel approach to AVE called TOken REcycling (TORE). It divides the encoder into extractor and aggregator components. The extractor processes each observation separately, enabling the reuse of tokens passed to the aggregator. Moreover, to further reduce the computations, we decrease the decoder to only one block. Through extensive experiments, we demonstrate that TORE outperforms state-of-the-art methods while reducing computational overhead by up to 90\%.
此内容由惯性聚合(RSS阅读器)自动聚合整理,仅供阅读参考。 原文来自 — 版权归原作者所有。