168183 20260210085358.0 doi 10.1109/LRA.2025.3557233 sideral 143893 ART-2025-143893 eng Rückin, Julius Towards Map-Agnostic Policies for Adaptive Informative Path Planning 2025 Access copy available to the general public Unrestricted Robots are frequently tasked to gather relevant sensor data in unknown terrains. A key challenge for classical path planning algorithms used for autonomous information gathering is adaptively replanning paths online as the terrain is explored given limited onboard compute resources. Recently, learning-based approaches emerged that train planning policies offline and enable computationally efficient online replanning performing policy inference. These approaches are designed and trained for terrain monitoring missions assuming a single specific map representation, which limits their applicability to different terrains. To address this limitation, we propose a novel formulation of the adaptive informative path planning problem unified across different map representations, enabling training and deploying planning policies in a larger variety of monitoring missions. Experimental results validate that our novel formulation easily integrates with classical non-learning-based planning approaches while maintaining their performance. Our trained planning policy performs similarly to state-of-the-art map-specifically trained policies. We validate our learned policy on unseen real-world terrain datasets. info:eu-repo/semantics/openAccess All rights reserved http://www.europeana.eu/rights/rr-f/ info:eu-repo/semantics/article info:eu-repo/semantics/acceptedVersion Morilla-Cabello, David Universidad de Zaragoza Stachniss, Cyrill Montijano, Eduardo Universidad de Zaragoza (orcid)0000-0002-5176-3767 Popovic, Marija 5007 520 Universidad de Zaragoza Dpto. Informát.Ingenie.Sistms. Área Ingen.Sistemas y Automát. 10, 5 (2025), 5114-5121 IEEE Robot. autom. let. IEEE Robotics and Automation Letters 2377-3766 5628632 http://zaguan.unizar.es/record/168183/files/texto_completo.pdf Postprint 3450709 http://zaguan.unizar.es/record/168183/files/texto_completo.jpg?subformat=icon icon Postprint oai:zaguan.unizar.es:168183 articulos driver 2026-02-10-08:35:34 ARTICLE