{"paper":{"title":"SenseExpo: Spatial Exploration and Navigation via Scene Estimation from Expeditious Predictive Operators","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.CV","authors_text":"Fei Qiao, Handong Yao, Haohua Que, Haojia Gao, Hoiian Au, Jiajun Sun, Jiayue Xie, Mingkai Liu, Qian Zhang, Tianle Zhu, Weihao Shan, Yusen Qin","submitted_at":"2025-03-20T10:07:51Z","abstract_excerpt":"We present \\textbf{SenseExpo}, a lightweight single-robot exploration framework that integrates a compact map prediction network into a frontier-based strategy. SenseExpo addresses two long-standing challenges in classical methods -- high computational overhead and poor environmental generalization. Our prediction network combines Generative Adversarial Networks (GANs), Transformers, and Fast Fourier Convolution (FFC) to achieve a remarkably small footprint of only 709K parameters. Despite its compactness, SenseExpo outperforms U-Net (24.5M) and LaMa (51M) on the KTH dataset, achieving PSNR 9."},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2503.16000","kind":"arxiv","version":2},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2503.16000/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}