Data to 7 Oct 2026

Revisiting Active Perception

arXiv 1603.02729 ↗First posted 8 Mar 2016cs.CV cs.ROcited by 90

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Abstract (arXiv)

Despite the recent successes in robotics, artificial intelligence and computer vision, a complete artificial agent necessarily must include active perception. A multitude of ideas and methods for how to accomplish this have already appeared in the past, their broader utility perhaps impeded by insufficient computational power or costly hardware. The history of these ideas, perhaps selective due to our perspectives, is presented with the goal of organizing the past literature and highlighting the seminal contributions. We argue that those contributions are as relevant today as they were decades ago and, with the state of modern computational tools, are poised to find new life in the robotic perception systems of the next decade.

Key facts. Cited by 90 papers in the map (data through 7 Oct 2026). First posted on arXiv 8 Mar 2016.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 17; 2022: 10; 2023: 11; 2024: 11; 2025: 11; 2026: 30.

90 papers.

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2021Rapid Exploration for Open-World Navigation with Latent Goal Modelscited by 118
2023Adaptive Rotated Convolution for Rotated Object Detectioncited by 51
2021A Survey on Human-aware Robot Navigationcited by 23
2025Eye, Robot: Learning to Look to Act with a BC-RL Perception-Action Loopcited by 23
2021Safe Occlusion-aware Autonomous Driving via Game-Theoretic Active Perceptioncited by 22
2022Learning Active Camera for Multi-Object Navigationcited by 20
2021How to select and use tools? : Active Perception of Target Objects Using Multimodal Deep Learningcited by 15
2023Evidential Active Recognition: Intelligent and Prudent Open-World Embodied Perceptioncited by 15
2021On the use of Cortical Magnification and Saccades as Biological Proxies for Data Augmentationcited by 12
2022Active Visuo-Haptic Object Shape Completioncited by 11
2022Active Acquisition for Multimodal Temporal Data: A Challenging Decision-Making Taskcited by 11
2024ActiView: Evaluating Active Perception Ability for Multimodal Large Language Modelscited by 11

38 more

2025VISO-Grasp: Vision-Language Informed Spatial Object-centric 6-DoF Active View Planning and Grasping in Clutter and Invisibilitycited by 11
2023Active-Perceptive Motion Generation for Mobile Manipulationcited by 10
2021Visual-Tactile Cross-Modal Data Generation using Residue-Fusion GAN with Feature-Matching and Perceptual Lossescited by 6
2021Evaluating the Single-Shot MultiBox Detector and YOLO Deep Learning Models for the Detection of Tomatoes in a Greenhousecited by 6
2021The Artificial Intelligence behind the winning entry to the 2019 AI Robotic Racing Competitioncited by 6
2021NudgeSeg: Zero-Shot Object Segmentation by Repeated Physical Interactioncited by 5
2022OpenDR: An Open Toolkit for Enabling High Performance, Low Footprint Deep Learning for Roboticscited by 5
2022SGTM 2.0: Autonomously Untangling Long Cables using Interactive Perceptioncited by 5
2026VLA-Thinker: Boosting Vision-Language-Action Models through Thinking-with-Image Reasoningcited by 5
2022Next-Best-View Prediction for Active Stereo Cameras and Highly Reflective Objectscited by 4
2025Thousand-Brains Systems: Sensorimotor Intelligence for Rapid, Robust Learning and Inferencecited by 4
2026ActiveMimic: Egocentric Video Pretraining with Active Perceptioncited by 4
2024Active inference and deep generative modeling for cognitive ultrasoundcited by 3
2025Active 6D Pose Estimation for Textureless Objects using Multi-View RGB Framescited by 3
2026Actively Obtaining Environmental Feedback for Autonomous Action Evaluation Without Predefined Measurementscited by 3
2026SCALE: Self-uncertainty Conditioned Adaptive Looking and Execution for Vision-Language-Action Modelscited by 3
2026Interactive Benchmarkscited by 3
2021Probing the Effect of Selection Bias on Generalization: A Thought Experimentcited by 2
2021Active Safety Envelopes using Light Curtains with Probabilistic Guaranteescited by 2
2022Active Perception Applied To Unmanned Aerial Vehicles Through Deep Reinforcement Learningcited by 2
2023Look Around and Learn: Self-Training Object Detection by Explorationcited by 2
2024MINT: A wrapper to make multi-modal and multi-image AI models interactivecited by 2
2024Multi-modal perception for soft robotic interactions using generative modelscited by 2
2024Learning to Look: Seeking Information for Decision Making via Policy Factorizationcited by 2
2025Tactile MNIST: Benchmarking Active Tactile Perceptioncited by 2
2025Human Scanpath Prediction in Target-Present Visual Search with Semantic-Foveal Bayesian Attentioncited by 2
2026OA-NBV: Occlusion-Aware Next-Best-View Planning for Human-Centered Active Perception on Mobile Robotscited by 2
2026Engagement Process: Rethinking the Temporal Interface of Action and Observationcited by 2
2026Planning with the Viewscited by 2
2026LIME: Learning Intent-aware Camera Motion from Egocentric Videocited by 2
2021On the Control of Attentional Processes in Visioncited by 1
2021Uncertainty Maximization in Partially Observable Domains: A Cognitive Perspectivecited by 1
2022TTCDist: Fast Distance Estimation From an Active Monocular Camera Using Time-to-Contactcited by 1
2022Where Am I Now? Dynamically Finding Optimal Sensor States to Minimize Localization Uncertainty for a Perception-Denied Rovercited by 1
2023GIRA: Gaussian Mixture Models for Inference and Robot Autonomycited by 1
2023Self-Supervised Learning for Interactive Perception of Surgical Thread for Autonomous Suture Tail-Shorteningcited by 1
2024Semantic-Based Active Perception for Humanoid Visual Tasks with Foveal Sensorscited by 1
2025Apple: Toward General Active Perception via Reinforcement Learningcited by 1

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