相关论文: LSTM-Based Goal Recognition in Latent Space

Object goal navigation (ObjectNav) is a fundamental task in embodied AI, requiring an agent to locate a target object in previously unseen environments. This task is particularly challenging because it requires both perceptual and cognitive…

For humans, object detection, recognition, and tracking are innate. These provide the ability for human to perceive their environment and objects within their environment. This ability however doesn't translate well in computers. In…

We tackle the problem of visual localization under changing conditions, such as time of day, weather, and seasons. Recent learned local features based on deep neural networks have shown superior performance over classical hand-crafted local…

The current paper presents how a predictive coding type deep recurrent neural networks can generate vision-based goal-directed plans based on prior learning experience by examining experiment results using a real arm robot. The proposed…

Visual perception and navigation have emerged as major focus areas in the field of embodied artificial intelligence. We consider the task of image-goal navigation, where an agent is tasked to navigate to a goal specified by an image,…

The detection and tracking of celestial surface terrain features are crucial for autonomous spaceflight applications, including Terrain Relative Navigation (TRN), Entry, Descent, and Landing (EDL), hazard analysis, and scientific data…

Recognizing precise geometrical configurations of groups of objects is a key capability of human spatial cognition, yet little studied in the deep learning literature so far. In particular, a fundamental problem is how a machine can learn…

This paper addresses the problem of object-goal navigation in autonomous inspections in real-world environments. Object-goal navigation is crucial to enable effective inspections in various settings, often requiring the robot to identify…

Convolutional neural networks require numerous data for training. Considering the difficulties in data collection and labeling in some specific tasks, existing approaches generally use models pre-trained on a large source domain (e.g.…

Understanding human actions in visual data is tied to advances in complementary research areas including object recognition, human dynamics, domain adaptation and semantic segmentation. Over the last decade, human action analysis evolved…

Object goal navigation aims to navigate an agent to locations of a given object category in unseen environments. Classical methods explicitly build maps of environments and require extensive engineering while lacking semantic information…

Content-based image retrieval has seen astonishing progress over the past decade, especially for the task of retrieving images of the same object that is depicted in the query image. This scenario is called instance or object retrieval and…

The widespread use of deep neural networks has achieved substantial success in many tasks. However, there still exists a huge gap between the operating mechanism of deep learning models and human-understandable decision making, so that…

Disentangled representation learning has been proposed as an approach to learning general representations even in the absence of, or with limited, supervision. A good general representation can be fine-tuned for new target tasks using…

Recent approaches to goal and plan recognition using classical planning domains have achieved state of the art results in terms of both recognition time and accuracy by using heuristics based on planning landmarks. To achieve such fast…

It is desirable for detection and classification algorithms to generalize to unfamiliar environments, but suitable benchmarks for quantitatively studying this phenomenon are not yet available. We present a dataset designed to measure…

Recognition of features in satellite imagery (forests, swimming pools, etc.) depends strongly on the spatial scale of the concept and therefore the resolution of the images. This poses two challenges: Which resolution is best suited for…

Visual Place Recognition is a task that aims to predict the coordinates of an image (called query) based solely on visual clues. Most commonly, a retrieval approach is adopted, where the query is matched to the most similar images from a…

Object-Goal Navigation (ObjectNav) requires an agent to find and navigate to a target object category in unknown environments. While recent Large Language Model (LLM)-based agents exhibit zero-shot reasoning, they often rely on a "reactive"…

Object Goal Navigation (ObjectNav) task is to navigate an agent to an object category in unseen environments without a pre-built map. In this paper, we solve this task by predicting the distance to the target using semantically-related…