Related papers: Transformer-based Localization from Embodied Dialo…

Predicting the trajectories of surrounding agents is still considered one of the most challenging tasks for autonomous driving. In this paper, we introduce a multi-modal trajectory prediction framework based on the transformer network. The…

A crucial ability of mobile intelligent agents is to integrate the evidence from multiple sensory inputs in an environment and to make a sequence of actions to reach their goals. In this paper, we attempt to approach the problem of…

Pre-training on large models is prevalent and emerging with the ever-growing user-generated content in many machine learning application categories. It has been recognized that learning contextual knowledge from the datasets depicting…

Visual navigation for autonomous agents is a core task in the fields of computer vision and robotics. Learning-based methods, such as deep reinforcement learning, have the potential to outperform the classical solutions developed for this…

We implemented a system able to locate people indoor, with the purpose of providing assistive services. Such approach is particularly important for the Art, for providing information on exhibitions, art galleries and museums, and to allow…

Predicting pedestrian behavior is a crucial task for intelligent driving systems. Accurate predictions require a deep understanding of various contextual elements that potentially impact the way pedestrians behave. To address this…

In this paper, we show that the performance of a learnt generative model is closely related to the model's ability to accurately represent the inferred \textbf{latent data distribution}, i.e. its topology and structural properties. We…

State abstraction is an effective technique for planning in robotics environments with continuous states and actions, long task horizons, and sparse feedback. In object-oriented environments, predicates are a particularly useful form of…

High-dimensional observations and unknown dynamics are major challenges when applying optimal control to many real-world decision making tasks. The Learning Controllable Embedding (LCE) framework addresses these challenges by embedding the…

In this paper, we present the first transformer-based model to address the challenging problem of egocentric gaze estimation. We observe that the connection between the global scene context and local visual information is vital for…

We investigate the knowledge graph entity typing task which aims at inferring plausible entity types. In this paper, we propose a novel Transformer-based Entity Typing (TET) approach, effectively encoding the content of neighbors of an…

The success of deep neural networks often relies on a large amount of labeled examples, which can be difficult to obtain in many real scenarios. To address this challenge, unsupervised methods are strongly preferred for training neural…

Detectors with high coverage have direct and far-reaching benefits for road users in route planning and avoiding traffic congestion, but utilizing these data presents unique challenges including: the dynamic temporal correlation, and the…

Language is an effective medium for bi-directional communication in human-robot teams. To infer the meaning of many instructions, robots need to construct a model of their surroundings that describe the spatial, semantic, and metric…

In recent years, fully differentiable end-to-end autonomous driving systems have become a research hotspot in the field of intelligent transportation. Among various research directions, automatic parking is particularly critical as it aims…

Large language models (LLMs) produce high-dimensional embeddings that capture rich semantic and syntactic relationships between words, sentences, and concepts. Investigating the topological structures of LLM embedding spaces via mapper…

Decision-making for urban autonomous driving is challenging due to the stochastic nature of interactive traffic participants and the complexity of road structures. Although reinforcement learning (RL)-based decision-making scheme is…

Accurate localization represents a fundamental challenge in robotic navigation. Traditional methodologies, such as Lidar or QR-code based systems, suffer from inherent scalability and adaptability con straints, particularly in complex…

Learning-based perception and prediction modules in modern autonomous driving systems typically rely on expensive human annotation and are designed to perceive only a handful of predefined object categories. This closed-set paradigm is…

We consider the problem of classifying a map using a team of communicating robots. It is assumed that all robots have localized visual sensing capabilities and can exchange their information with neighboring robots. Using a graph…