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

Interactive visual navigation tasks, which involve following instructions to reach and interact with specific targets, are challenging not only because successful experiences are very rare but also because the complex visual inputs require…

Long-horizon navigation in complex urban environments relies heavily on continuous human operation, which leads to fatigue, reduced efficiency, and safety concerns. Shared autonomy, where a Vision-Language AI agent and a human operator…

Autonomous navigation of vehicle-trailer systems is crucial in environments like airports, supermarkets, and concert venues, where various types of trailers are needed to navigate with different payloads and conditions. However, accurately…

In this work, we study the problem where a group of mobile agents needs to reach a set of goal locations, but it does not matter which agent reaches a specific goal. Unlike most of the existing works on this topic that typically assume the…

Agile humanoid locomotion in complex 3D en- vironments requires balancing perceptual fidelity with com- putational efficiency, yet existing methods typically rely on rigid sensing configurations. We propose ADAPT (Adaptive dual-projection…

Devising intelligent agents able to live in an environment and learn by observing the surroundings is a longstanding goal of Artificial Intelligence. From a bare Machine Learning perspective, challenges arise when the agent is prevented…

Manipulating objects without grasping them is an essential component of human dexterity, referred to as non-prehensile manipulation. Non-prehensile manipulation may enable more complex interactions with the objects, but also presents…

We propose a novel neural architecture for representing 3D surfaces, which harnesses two complementary shape representations: (i) an explicit representation via an atlas, i.e., embeddings of 2D domains into 3D; (ii) an implicit-function…

Unsupervised learning has grown in popularity because of the difficulty of collecting annotated data and the development of modern frameworks that allow us to learn from unlabeled data. Existing studies, however, either disregard variations…

Despite the recent success of deep reinforcement learning (RL), domain adaptation remains an open problem. Although the generalization ability of RL agents is critical for the real-world applicability of Deep RL, zero-shot policy transfer…

Vision-and-Language Navigation (VLN) tasks such as Room-to-Room (R2R) require machine agents to interpret natural language instructions and learn to act in visually realistic environments to achieve navigation goals. The overall task…

Previous works showed that Deep-RL can be applied to perform mapless navigation, including the medium transition of Hybrid Unmanned Aerial Underwater Vehicles (HUAUVs). This paper presents new approaches based on the state-of-the-art…

When autonomous vehicles still struggle to solve challenging situations during on-road driving, humans have long mastered the essence of driving with efficient transferable and adaptable driving capability. By mimicking humans' cognition…

Navigation is an essential ability for mobile agents to be completely autonomous and able to perform complex actions. However, the problem of navigation for agents with limited (or no) perception of the world, or devoid of a fully defined…

Vision-Language Navigation requires the agent to follow natural language instructions to reach a specific target. The large discrepancy between seen and unseen environments makes it challenging for the agent to generalize well. Previous…

Training intelligent agents that can drive autonomously in various urban and highway scenarios has been a hot topic in the robotics society within the last decades. However, the diversity of driving environments in terms of road topology…

Advancing safe autonomous systems through reinforcement learning (RL) requires robust benchmarks to evaluate performance, analyze methods, and assess agent competencies. Humans primarily rely on embodied visual perception to safely navigate…

Autonomous agents need large repertoires of skills to act reasonably on new tasks that they have not seen before. However, acquiring these skills using only a stream of high-dimensional, unstructured, and unlabeled observations is a tricky…

Audio-visual Navigation refers to an agent utilizing visual and auditory information in complex 3D environments to accomplish target localization and path planning, thereby achieving autonomous navigation. The core challenge of this task…

This work proposes a coverage controller that enables an aerial team of distributed autonomous agents to collaboratively generate non-myopic coverage plans over a rolling finite horizon, aiming to cover specific points on the surface area…