相关论文: SNF Project Locomotion: Progress report 2008-2009
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…
Living microorganisms have evolved dedicated sensory machinery to detect environmental perturbations, processing these signals through biochemical networks to guide behavior. Replicating such capabilities in synthetic active matter remains…
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,…
Progress in Embodied AI has made it possible for end-to-end-trained agents to navigate in photo-realistic environments with high-level reasoning and zero-shot or language-conditioned behavior, but benchmarks are still dominated by…
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…
Although commonly associated with limbless animals like snakes and fish, multi-legged organisms like centipedes also utilize undulatory locomotion. Whether these undulations are actively reinforced or resisted by the axial musculature…
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…
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…
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…
Autonomous vehicles require motion forecasting of their surrounding multiagents (pedestrians and vehicles) to make optimal decisions for navigation. The existing methods focus on techniques to utilize the positions and velocities of these…
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.…
Ground robots which are able to navigate a variety of terrains are needed in many domains. One of the key aspects is the capability to adapt to the ground structure, which can be realized through movable body parts coming along with…
Evolution sculpts both the body plans and nervous systems of agents together over time. In contrast, in AI and robotics, a robot's body plan is usually designed by hand, and control policies are then optimized for that fixed design. The…
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…
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,…
The semantics of the environment, such as the terrain type and property, reveals important information for legged robots to adjust their behaviors. In this work, we present a framework that learns semantics-aware locomotion skills from…
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…
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…
Embodied navigation (EN) advances traditional navigation by enabling robots to perform complex egocentric tasks through sensing, social, and motion intelligence. In contrast to classic methodologies that rely on explicit localization and…