相关论文: SNF Project Locomotion: Final report 2009-2010
The rapid evolution of artificial intelligence (AI) has shifted from static, data-driven models to dynamic systems capable of perceiving and interacting with real-world environments. Despite advancements in pattern recognition and symbolic…
Realistic long-horizon tasks like image-goal navigation involve exploratory and exploitative phases. Assigned with an image of the goal, an embodied agent must explore to discover the goal, i.e., search efficiently using learned priors.…
LLMs have recently demonstrated strong potential in simulating online shopper behavior. Prior work has improved action prediction by applying SFT on action traces with LLM-generated rationales, and by leveraging RL to further enhance…
The development of embodied agents that can communicate with humans in natural language has gained increasing interest over the last years, as it facilitates the diffusion of robotic platforms in human-populated environments. As a step…
The increase in available computing power and the Deep Learning revolution have allowed the exploration of new topics and frontiers in Artificial Intelligence research. A new field called Embodied Artificial Intelligence, which places at…
Visual navigation by mobile robots is classically tackled through SLAM plus optimal planning, and more recently through end-to-end training of policies implemented as deep networks. While the former are often limited to waypoint planning,…
By building and updating internal cognitive maps, animals exhibit extraordinary navigation abilities in complex, dynamic environments. Inspired by these biological mechanisms, we present a real time robotic navigation system grounded in the…
Robotic technologies have been an indispensable part for improving human productivity since they have been helping humans in completing diverse, complex, and intensive tasks in a fast yet accurate and efficient way. Therefore, robotic…
Motions carry information about the underlying task being executed. Previous work in human motion analysis suggests that complex motions may result from the composition of fundamental submovements called movemes. The existence of finite…
What do humans do when confronted with a common challenge: we know where we want to go but we are not yet sure the best way to get there, or even if we can. This is the problem posed to agents during spatial navigation and pathfinding, and…
While Visual Large Language Models (VLLMs) show great promise as embodied agents, they continue to face substantial challenges in spatial reasoning. Existing embodied benchmarks largely focus on passive, static household environments and…
We review how sensorimotor control is dictated by interacting neural populations, optimal feedback mechanisms, and the biomechanics of bodies. First, we outline the distributed anatomical loops that shuttle sensorimotor signals between…
In this paper we present a computational modeling account of an active self in artificial agents. In particular we focus on how an agent can be equipped with a sense of control and how it arises in autonomous situated action and, in turn,…
Symbol grounding (Harnad, 1990) describes how symbols such as words acquire their meanings by connecting to real-world sensorimotor experiences. Recent work has shown preliminary evidence that grounding may emerge in (vision-)language…
Embodied agents are evolving from passive reasoning systems into active executors that interact with tools, robots, and physical environments. Once granted execution authority, the central challenge becomes how to keep actions governable at…
Identifying the physical properties of the surrounding environment is essential for robotic locomotion and navigation to deal with non-geometric hazards, such as slippery and deformable terrains. It would be of great benefit for robots to…
Spatial cognition enables adaptive goal-directed behavior by constructing internal models of space. Robust biological systems consolidate spatial knowledge into three interconnected forms: \textit{landmarks} for salient cues, \textit{route…
This paper presents a novel approach to simulate human wayfinding behaviour incorporating visual cognition into a software agent for a computer aided evaluation of wayfinding systems in large infrastructures. The proposed approach follows…
We present a commonsense, qualitative model for the semantic grounding of embodied visuo-spatial and locomotive interactions. The key contribution is an integrative methodology combining low-level visual processing with high-level,…
Everyday locomotion is a complex sensorimotor process that can unfold over multiple timescales, from long-term path planning to rapid, reactive adjustments. However, we lack an understanding of how factors such as environmental demands, or…