相关论文: Target Driven Visual Navigation with Hybrid Asynch…

The objective of transfer reinforcement learning is to generalize from a set of previous tasks to unseen new tasks. In this work, we focus on the transfer scenario where the dynamics among tasks are the same, but their goals differ.…

In this paper, we show how novel transfer reinforcement learning techniques can be applied to the complex task of target driven navigation using the photorealistic AI2THOR simulator. Specifically, we build on the concept of Universal…

A crucial capability of real-world intelligent agents is their ability to plan a sequence of actions to achieve their goals in the visual world. In this work, we address the problem of visual semantic planning: the task of predicting a…

We propose a light-weight, self-supervised adaptation for a visual navigation agent to generalize to unseen environment. Given an embodied agent trained in a noiseless environment, our objective is to transfer the agent to a noisy…

In this work, we propose a learning based neural model that provides both the longitudinal and lateral control commands to simultaneously navigate multiple vehicles. The goal is to ensure that each vehicle reaches a desired target state…

Visual-audio navigation (VAN) is attracting more and more attention from the robotic community due to its broad applications, \emph{e.g.}, household robots and rescue robots. In this task, an embodied agent must search for and navigate to…

Training embodied AI agents depends critically on the visual fidelity of simulation environments and the ability to model dynamic humans. Current simulators rely on mesh-based rasterization with limited visual realism, and their support for…

A complex visual navigation task puts an agent in different situations which call for a diverse range of visual perception abilities. For example, to "go to the nearest chair", the agent might need to identify a chair in a living room using…

The successor representation (SR) provides a powerful framework for decoupling predictive dynamics from rewards, enabling rapid generalisation across reward configurations. However, the classical SR is limited by its inherent policy…

This works presents a formulation for visual navigation that unifies map based spatial reasoning and path planning, with landmark based robust plan execution in noisy environments. Our proposed formulation is learned from data and is thus…

The goal of object navigation is to reach the expected objects according to visual information in the unseen environments. Previous works usually implement deep models to train an agent to predict actions in real-time. However, in the…

Trajectory generation has garnered significant attention from researchers in the field of spatio-temporal analysis, as it can generate substantial synthesized human mobility trajectories that enhance user privacy and alleviate data…

Mobile agents that can leverage help from humans can potentially accomplish more complex tasks than they could entirely on their own. We develop "Help, Anna!" (HANNA), an interactive photo-realistic simulator in which an agent fulfills…

Reinforcement Learning (RL) algorithms typically require millions of environment interactions to learn successful policies in sparse reward settings. Hindsight Experience Replay (HER) was introduced as a technique to increase sample…

Autonomous navigation in partially observable environments requires agents to reason beyond immediate sensor input, exploit occlusion, and ensure safety while progressing toward a goal. These challenges arise in many robotics domains, from…

Search and rescue operations require unmanned aerial vehicles to both traverse unknown unstructured environments at high speed and track targets once detected. Achieving both capabilities under degraded sensing and without global…

We propose improving the cross-target and cross-scene generalization of visual navigation through learning an agent that is guided by conceiving the next observations it expects to see. This is achieved by learning a variational Bayesian…

Navigating unfamiliar environments presents significant challenges for household robots, requiring the ability to recognize and reason about novel decoration and layout. Existing reinforcement learning methods cannot be directly transferred…

Modeling multi-modal high-level intent is important for ensuring diversity in trajectory prediction. Existing approaches explore the discrete nature of human intent before predicting continuous trajectories, to improve accuracy and support…

Effective task representations should facilitate compositionality, such that after learning a variety of basic tasks, an agent can perform compound tasks consisting of multiple steps simply by composing the representations of the…