ROMA: Paper and Code Released for LLM-Based Real-World Object-Centric Multi-Sensor Active Perception System

ROMA proposes a real-world object-centric multi-sensor active perception system, in which an LLM planner determines missing information, actively collects it, and provides attribute estimates once evidence is sufficient. Unlike fixed pipelines that perceive first and then act, the system uses real multi-sensor hardware, and its code has been open-sourced.