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DiffVAS: Diffusion-Guided Visual Active Search in Partially Observable Environments
Washington University in St. Louis, St. Louis, United States.
Washington University in St. Louis, St. Louis, United States.
RISE Research Institutes of Sweden, Digital Systems, Data Science.ORCID iD: 0000-0002-5299-142X
Washington University in St. Louis, St. Louis, United States.
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2026 (English)In: AAMAS 2026 - Proceedings of the 25th International Conference on Autonomous Agents and Multiagent Systems, International Foundation for Autonomous Agents and Multiagent Systems , 2026, p. 791-799Conference paper, Published paper (Refereed)
Abstract [en]

Visual active search (VAS) has been introduced as a modeling framework that leverages visual cues to direct aerial (e.g., UAV-based) exploration and pinpoint areas of interest within extensive geospatial regions. Potential applications of VAS include detecting hotspots for rare wildlife poaching, aiding search-and-rescue missions, and uncovering illegal trafficking of weapons, among other uses. Previous VAS approaches assume that the entire search space is known upfront, which is often unrealistic due to constraints such as a restricted field of view and high acquisition costs, and they typically learn policies tailored to specific target objects, which limits their ability to search for multiple target categories simultaneously. In this work, we propose DiffVAS, a target-conditioned policy that searches for diverse objects simultaneously according to task requirements in partially observable environments, which advances the deployment of visual active search policies in real-world applications. DiffVAS leverages a diffusion model to reconstruct the entire geospatial area from sequentially observed partial glimpses, which enables a target-conditioned reinforcement learning-based planning module to effectively reason and guide subsequent search steps. Extensive experiments demonstrate that DiffVAS excels in searching diverse objects in partially observable environments, significantly surpassing state-of-the-art methods on several datasets. Code and models are available at this link

Place, publisher, year, edition, pages
International Foundation for Autonomous Agents and Multiagent Systems , 2026. p. 791-799
Keywords [en]
Geospatial, UAV, Visual Active Search
National Category
Computer Sciences
Identifiers
URN: urn:nbn:se:ri:diva-81848DOI: 10.65109/PUUC3893Scopus ID: 2-s2.0-105041424304OAI: oai:DiVA.org:ri-81848DiVA, id: diva2:2079847
Conference
25th International Conference on Autonomous Agents and Multiagent Systems, AAMAS 2026, Paphos
Note

QC 20260625

Available from: 2026-06-25 Created: 2026-06-25 Last updated: 2026-06-25Bibliographically approved

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Pirinen, Aleksis

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