Related papers: AirLoop: Lifelong Loop Closure Detection

The process of association and tracking of sensor detections is a key element in providing situational awareness. When the targets in the scenario are dense and exhibit high maneuverability, Multi-Target Tracking (MTT) becomes a challenging…

Hallucination in large language models (LLMs) remains a critical barrier to their safe deployment. For hallucination detection to be practical in real-world scenarios, the use of efficient small models is essential to ensure low latency and…

The concept of continuous-time trajectory representation has brought increased accuracy and efficiency to multi-modal sensor fusion in modern SLAM. However, regardless of these advantages, its offline property caused by the requirement of…

The Contrastive Language-Image Pre-training (CLIP) Model is a recently proposed large-scale pre-train model which attracts increasing attention in the computer vision community. Benefiting from its gigantic image-text training set, the CLIP…

The problem of a deep learning model losing performance on a previously learned task when fine-tuned to a new one is a phenomenon known as Catastrophic forgetting. There are two major ways to mitigate this problem: either preserving…

Continual Learning (CL) is a field dedicated to devise algorithms able to achieve lifelong learning. Overcoming the knowledge disruption of previously acquired concepts, a drawback affecting deep learning models and that goes by the name of…

Alignment plays a crucial role in Large Language Models (LLMs) in aligning with human preferences on a specific task/domain. Traditional alignment methods suffer from catastrophic forgetting, where models lose previously acquired knowledge…

Existing Simultaneous Localization and Mapping (SLAM) approaches are limited in their scalability due to growing map size in long-term robot operation. Moreover, processing such maps for localization and planning tasks leads to the…

The continual evolution of autonomous driving technology requires car-following models that can adapt to diverse and dynamic traffic environments. Traditional learning-based models often suffer from performance degradation when encountering…

Aerial robot solutions are becoming ubiquitous for an increasing number of tasks. Among the various types of aerial robots, blimps are very well suited to perform long-duration tasks while being energy efficient, relatively silent and safe.…

Most research on lifelong learning applies to images or games, but not language. We present LAMOL, a simple yet effective method for lifelong language learning (LLL) based on language modeling. LAMOL replays pseudo-samples of previous tasks…

Continual learning (CL) refers to the ability of an algorithm to continuously and incrementally acquire new knowledge from its environment while retaining previously learned information. A model trained on one data modality often fails when…

Continual learning is the ability to sequentially learn over time by accommodating knowledge while retaining previously learned experiences. Neural networks can learn multiple tasks when trained on them jointly, but cannot maintain…

Robust geo-localization in changing environmental conditions is critical for long-term aerial autonomy. While visual place recognition (VPR) models perform well when airborne views match the training domain, adapting them to shifting…

Continual learning is essential for all real-world applications, as frozen pre-trained models cannot effectively deal with non-stationary data distributions. The purpose of this study is to review the state-of-the-art methods that allow…

Autonomous robots operating in open environments need the ability to continuously handle tasks that are not covered by predefined local methods. However, existing approaches often rely on repeated large-language-model (LLM) interaction for…

We introduce a lifelong imitation learning framework that enables continual policy refinement across sequential tasks under realistic memory and data constraints. Our approach departs from conventional experience replay by operating…

Loop closure detection (LCD) is a core component of simultaneous localization and mapping (SLAM): it identifies revisited places and enables pose-graph constraints that correct accumulated drift. Classic bag-of-words approaches such as DBoW…

Supervised deep neural networks are known to undergo a sharp decline in the accuracy of older tasks when new tasks are learned, termed "catastrophic forgetting". Many state-of-the-art solutions to continual learning rely on biasing and/or…

Continual learning (CL) aims to constantly learn new knowledge over time while avoiding catastrophic forgetting on old tasks. We focus on continual text classification under the class-incremental setting. Recent CL studies have identified…