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Machine learning problems have an intrinsic geometric structure as central objects including a neural network's weight space and the loss function associated with a particular task can be viewed as encoding the intrinsic geometry of a given…
Embodied navigation requires robots to understand and interact with the environment based on given tasks. Vision-Language Navigation (VLN) is an embodied navigation task, where a robot navigates within a previously seen and unseen…
Navigation among movable obstacles (NAMO) is a critical task in robotics, often challenged by real-world uncertainties such as observation noise, model approximations, action failures, and partial observability. Existing solutions…
Many problems can be viewed as forms of geospatial search aided by aerial imagery, with examples ranging from detecting poaching activity to human trafficking. We model this class of problems in a visual active search (VAS) framework, which…
Vision-language models (VLMs) perform strongly on many multimodal benchmarks. However, the ability to follow complex visual paths -- a task that human observers typically find straightforward -- remains under-tested. We introduce…
In underwater navigation, accurate heading information is crucial for accurately and continuously tracking trajectories, especially during extended missions beneath the waves. In order to determine the initial heading, a gyrocompassing…
Visual Semantic Navigation (VSN) is a fundamental problem in robotics, where an agent must navigate toward a target object in an unknown environment, mainly using visual information. Most state-of-the-art VSN models are trained in…
Accurate traversability estimation is essential for safe and effective navigation of outdoor robots operating in complex environments. This paper introduces a novel experience-based method that allows robots to autonomously learn which…
Mapless navigation has emerged as a promising approach for enabling autonomous robots to navigate in environments where pre-existing maps may be inaccurate, outdated, or unavailable. In this work, we propose an image-based local…
Navigation assistance systems (NASs) aim to help visually impaired people (VIPs) navigate unfamiliar environments. Most of today's NASs support VIPs via turn-by-turn navigation, but a growing body of work highlights the importance of…
Simultaneous Localisation and Mapping (SLAM) is one of the fundamental problems in autonomous mobile robots where a robot needs to reconstruct a previously unseen environment while simultaneously localising itself with respect to the map.…
Navigation is a fundamental capability in embodied AI, representing the intelligence required to perceive and interact within physical environments following language instructions. Despite significant progress in large Vision-Language…
Vision-language navigation (VLN) is the task of navigating an embodied agent to carry out natural language instructions inside real 3D environments. In this paper, we study how to address three critical challenges for this task: the…
Geometric Deep Learning has recently made striking progress with the advent of continuous deep implicit fields. They allow for detailed modeling of watertight surfaces of arbitrary topology while not relying on a 3D Euclidean grid,…
Deep generative models have shown success in generating 3D shapes with different representations. In this work, we propose Neural Volumetric Mesh Generator(NVMG) which can generate novel and high-quality volumetric meshes. Unlike the…
We consider the problem of open-goal planning for robotic cloth manipulation. Core of our system is a neural network trained as a forward model of cloth behaviour under manipulation, with planning performed through backpropagation. We…
Deep learning-based approaches, particularly graph neural networks (GNNs), have gained prominence in simulating flexible deformations and contacts of solids, due to their ability to handle unstructured physical fields and nonlinear…
Enabling robotic assistants to navigate complex environments and locate objects described in free-form language is a critical capability for real-world deployment. While foundation models, particularly Vision-Language Models (VLMs), offer…
Molecular biology knowledge can be systematically represented in a computer-readable form as a comprehensive map of molecular interactions. There exist a number of maps of molecular interactions containing detailed description of various…
In a busy city street, a pedestrian surrounded by distractions can pick out a single sign if it is relevant to their route. Artificial agents in outdoor Vision-and-Language Navigation (VLN) are also confronted with detecting supervisory…