DeltaSeek: Toward Active Perception in Evolving Construction Environments

Existing robotic perception is constrained by sensors that are either robot-mounted or permanently fixed in the environment, locking perception to a limited set of viewpoints. Yet as robots perform increasingly diverse tasks, the most informative viewpoint shifts from one task to the next-often somewhere onboard sensor and static infrastructure can not readily satisfy. To address this gap, we propose SensorPerch, a novel realization of active perception that decouples sensing from both the robot embodiment and the environment by treating sensors as independent physical entities that the robot can autonomously detach and re-attach within the environment. SensorPerch presents one realization of this paradigm: a lightweight, wireless, reconfigurable sensor platform that can perch on diverse surfaces, paired with a viewpoint-selection framework that determines task-optimal sensor placements. Together, these enable robots to construct task-relevant viewpoints on demand, independent of the robot's current position and available fixed infrastructure. We demonstrate the paradigm on two task classes: (i) object-coupled perception, where SensorPerch enables persistent object-state detection beyond the robot's current position, achieving successful event detection even when the robot is not nearby; and (ii) policy-coupled perception, where SensorPerch allows robots to construct diverse, policy-specific viewpoints for various policies, achieving success rates comparable to those obtained using oracle viewpoints.

Active perception is essential for robotic manipulation when fixed viewpoints leave task-relevant information occluded or unobserved. However, enabling vision-language-action (VLA) models to reason across changing viewpoints and actively acquire informative observations remains challenging. We present ActiveScale, a framework that advances active perception through coordinated model, data, and hardware designs. Our model augments a VLA with historical video observations and explicit camera-pose supervision, using per-frame pose tokens and a lightweight prediction head to associate observations across viewpoints and support a coherent understanding of the scene. To learn from the camera motion naturally present in human activity, we introduce a scalable human--robot mid-training recipe using 1000 hours of egocentric and robotic data, adapting the model to temporal inputs and pose supervision. We further introduce Active-perception Mobile-manipulation Platform (AMP), a robotic platform that supports active perception and mobile manipulation through single-operator teleoperation, enabling scalable collection of demonstrations that coordinate viewpoint changes and manipulation. Experiments demonstrate improved success rates on active-perception tasks, while ablation studies validate the contributions of camera-pose-aware modeling and egocentric mid-training. Together, these components provide an integrated foundation for studying and developing active perception in robotic manipulation.

Active perception allows autonomous agents to select their viewpoints rather than passively process the viewpoints given to them, enabling them to target where to reduce uncertainty about their environment. Learned systems typically encourage this behavior with hand-designed proxy objectives, such as coverage or curiosity bonuses, that may conflict with the task. In this work, we propose a method to learn emergent active perception (LEAP) without augmentation of the task objective. We formulate the problem of goal-oriented navigation over hazardous terrains with goals that must be discovered visually. We then propose an architecture for navigation policies with active perception, and train them on a terrain curriculum where task pressure alone leads to the emergence of gaze control. Key to this emergence, LEAP works on a gaze-invariant representation that integrates depth images into egocentric belief maps. We validate its performance in held-out evaluation scenarios, where it achieves a 92.7% success rate, compared to 74.2% for scripted or 34.5% for passive perception, and comes within 4.6 points of a privileged oracle. We validate that LEAP navigation policies, unchanged, can be directly applied to steering quadrupedal locomotion policies in physics simulation.