# AURORA：用于手内重建的主动不确定性驱动重定向

> 原文链接：https://robotics.hellobike.com/papers/2026-09-08-2609-08493
> 频道：papers | 更新日期：2026-09-08 | 标签：arxiv, cs.RO
> 核心摘要：AURORA用Ray-GPIS将在线物体重建与手内重定向闭环，在手内三维重建实验中提升质量和信息获取效率。

# AURORA：用于手内重建的主动不确定性驱动重定向

::: v-pre
> 原文链接：[AURORA: Active Uncertainty-Driven Re-Orientation for In-Hand Reconstruction](https://arxiv.org/abs/2609.08493)（arXiv 2609.08493 · 发布日期：2026-09-08）

**AURORA: Active Uncertainty-Driven Re-Orientation for In-Hand Reconstruction**

AURORA用Ray-GPIS将在线物体重建与手内重定向闭环，在手内三维重建实验中提升质量和信息获取效率。

## 核心要点

- 机器人手抓握物体时遮挡严重，预设或开环重定向难以针对欠观测区域。
- Ray-GPIS沿候选视线估计方向不确定性，并以不确定性—新颖性目标选择下一最佳视角。
- 系统通过轴条件手内旋转策略实现视角目标，并增量融合RGB-D观测进行重建。
- 实验显示AURORA优于非主动旋转策略，Ray-GPIS也优于主动视角规划基线；项目网页已公开。

**验证范围与局限**：验证范围为手内物体重建实验，摘要未说明是在仿真还是真机上进行。

## 英文摘要 (Abstract)

Observing objects grasped by a robot hand is challenging due to severe visual occlusions. Although in-hand manipulation can expose hidden surfaces, existing approaches often rely on predefined or open-loop reorientation strategies that do not explicitly target under-observed regions. We propose AURORA, an active 3D reconstruction framework that closes the loop between online object-centric reconstruction and in-hand reorientation. At its core, Ray-GPIS estimates direction-wise reconstruction uncertainty along candidate viewing rays and selects next-best-view targets using an uncertainty--novelty objective, which are realized through an axis-conditioned in-hand rotation policy. The resulting RGB-D observations are fused incrementally using CAD-free 6D pose tracking and lightweight geometric reconstruction. Experiments demonstrate that AURORA improves reconstruction quality and information-acquisition efficiency over non-active rotation strategies, while Ray-GPIS also outperforms active view-planning baselines in reconstruction performance, action-ranking quality, and planning efficiency. Targeted ablations further validate its robustness to hand occlusion and pose errors. The project webpage is available at https://aurorahand.github.io/

作者：Feiyu Zhao, Yuetong Li, Chenxi Xiao
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## 原始参考来源 (Sources)

- [arXiv 2609.08493：AURORA: Active Uncertainty-Driven Re-Orientation for In-Hand Reconstruction](https://arxiv.org/abs/2609.08493)