相关论文: Following High-level Navigation Instructions on a …

Training a neural network (NN) typically relies on some type of curve-following method, such as gradient descent (GD) (and stochastic gradient descent (SGD)), ADADELTA, ADAM or limited memory algorithms. Convergence for these algorithms…

Neural Networks and related Deep Learning methods are currently at the leading edge of technologies used for classifying objects. However, they generally demand large amounts of time and data for model training; and their learned models can…

We present the Global Neural World Model (GNWM), a self-stabilizing framework that achieves topological quantization through balanced continuous entropy constraints. Operating as a continuous, action-conditioned Joint-Embedding Predictive…

Recent advances in vision-language models have made zero-shot navigation feasible, enabling robots to follow natural language instructions without requiring labeling. However, existing methods that explicitly store language vectors in grid…

Simulating object deformations is a critical challenge across many scientific domains, including robotics, manufacturing, and structural mechanics. Learned Graph Network Simulators (GNSs) offer a promising alternative to traditional…

Word embedding is designed to represent the semantic meaning of a word with low dimensional vectors. The state-of-the-art methods of learning word embeddings (word2vec and GloVe) only use the word co-occurrence information. The learned…

In autonomous driving, high-definition (HD) maps and semantic maps in bird's-eye view (BEV) are essential for accurate localization, planning, and decision-making. This paper introduces an enhanced End-to-End model named MapFM for online…

We introduce a method for real-time navigation and tracking with differentiably rendered world models. Learning models for control has led to impressive results in robotics and computer games, but this success has yet to be extended to…

Real-world geometry and 3D vision tasks are replete with challenging symmetries that defy tractable analytical expression. In this paper, we introduce Neural Isometries, an autoencoder framework which learns to map the observation space to…

Gradient descent computed by backpropagation (BP) is a widely used learning method for training artificial neural networks but has several limitations: it is computationally demanding, requires frequent manual tuning of the network…

Channel knowledge map (CKM) is a promising technique to achieve environment-aware wireless communication and sensing. Constructing the complete CKM based on channel knowledge observations at sparse locations is a fundamental problem for…

Graph neural networks (GNNs) are a class of deep models that operate on data with arbitrary topology represented as graphs. We introduce an efficient memory layer for GNNs that can jointly learn node representations and coarsen the graph.…

In this paper, we develop a high-dimensional map building technique that incorporates raw pixelated semantic measurements into the map representation. The proposed technique uses Gaussian Processes (GPs) multi-class classification for map…

Single image super-resolution is an effective way to enhance the spatial resolution of remote sensing image, which is crucial for many applications such as target detection and image classification. However, existing methods based on the…

Simulation-Grounded Neural Networks (SGNNs) are predictive models trained entirely on synthetic data from mechanistic simulations. They have achieved state-of-the-art performance in domains where real-world labels are limited or unobserved,…

Global navigation satellite systems (GNSS) are vulnerable to spoofing attacks, with adversarial signals manipulating the location or time information of receivers, potentially causing severe disruptions. The task of discerning the spoofing…

Accurate and dense mapping in large-scale environments is essential for various robot applications. Recently, implicit neural signed distance fields (SDFs) have shown promising advances in this task. However, most existing approaches employ…

Mobile robots are increasingly required to navigate and interact within unknown and unstructured environments to meet human demands. Demand-driven navigation (DDN) enables robots to identify and locate objects based on implicit human…

We study the problem of learning a robot policy to follow natural language instructions that can be easily extended to reason about new objects. We introduce a few-shot language-conditioned object grounding method trained from augmented…

Deep neural networks (DNNs) typically employ an end-to-end (E2E) training paradigm which presents several challenges, including high GPU memory consumption, inefficiency, and difficulties in model parallelization during training. Recent…