相关论文: Translating Navigation Instructions in Natural Lan…

Object-goal navigation is a crucial engineering task for the community of embodied navigation; it involves navigating to an instance of a specified object category within unseen environments. Although extensive investigations have been…

Behavioral skills or policies for autonomous agents are conventionally learned from reward functions, via reinforcement learning, or from demonstrations, via imitation learning. However, both modes of task specification have their…

Numerous past works have tackled the problem of task-driven navigation. But, how to effectively explore a new environment to enable a variety of down-stream tasks has received much less attention. In this work, we study how agents can…

This paper presents a self-improving lifelong learning framework for a mobile robot navigating in different environments. Classical static navigation methods require environment-specific in-situ system adjustment, e.g. from human experts,…

We propose a neural sequence-to-sequence model for direction following, a task that is essential to realizing effective autonomous agents. Our alignment-based encoder-decoder model with long short-term memory recurrent neural networks…

Humans are known to construct cognitive maps of their everyday surroundings using a variety of perceptual inputs. As such, when a human is asked for directions to a particular location, their wayfinding capability in converting this…

Robot social navigation needs to adapt to different human factors and environmental contexts. However, since these factors and contexts are difficult to predict and cannot be exhaustively enumerated, traditional learning-based methods have…

Little inquiry has explicitly addressed the role of action spaces in language-guided visual navigation -- either in terms of its effect on navigation success or the efficiency with which a robotic agent could execute the resulting…

Visual navigation for autonomous agents is a core task in the fields of computer vision and robotics. Learning-based methods, such as deep reinforcement learning, have the potential to outperform the classical solutions developed for this…

Service robots are increasingly deployed in diverse and dynamic environments, where both physical layouts and social contexts change over time and across locations. In these unstructured settings, conventional navigation systems that rely…

Navigating complex indoor environments requires a deep understanding of the space the robotic agent is acting into to correctly inform the navigation process of the agent towards the goal location. In recent learning-based navigation…

In the Vision-and-Language Navigation (VLN) task, the agent is required to navigate to a destination following a natural language instruction. While learning-based approaches have been a major solution to the task, they suffer from high…

We present a target-driven navigation system to improve mapless visual navigation in indoor scenes. Our method takes a multi-view observation of a robot and a target as inputs at each time step to provide a sequence of actions that move the…

This paper describes an alignment-based model for interpreting natural language instructions in context. We approach instruction following as a search over plans, scoring sequences of actions conditioned on structured observations of text…

A promising approach to autonomous driving is machine learning. In such systems, training datasets are created that capture the sensory input to a vehicle as well as the desired response. A disadvantage of using a learned navigation system…

Recent research in behaviour understanding through language grounding has shown it is possible to automatically generate behaviour models from textual instructions. These models usually have goal-oriented structure and are modelled with…

Semantic navigation is the navigation paradigm in which environmental semantic concepts and their relationships are taken into account to plan the route of a mobile robot. This paradigm facilitates the interaction with humans and the…

Humanoid robots with behavioral autonomy have consistently been regarded as ideal collaborators in our daily lives and promising representations of embodied intelligence. Compared to fixed-based robotic arms, humanoid robots offer a larger…

In order to successfully perform tasks specified by natural language instructions, an artificial agent operating in a visual world needs to map words, concepts, and actions from the instruction to visual elements in its environment. This…

Semantic navigation is necessary to deploy mobile robots in uncontrolled environments like our homes, schools, and hospitals. Many learning-based approaches have been proposed in response to the lack of semantic understanding of the…