相关论文: Visual Memory for Robust Path Following

Vision-based path following allows robots to autonomously repeat manually taught paths. Stereo Visual Teach and Repeat (VT\&R) accomplishes accurate and robust long-range path following in unstructured outdoor environments across changing…

Trained human pilots or operators still stand out through their efficient, robust, and versatile skills in guidance tasks such as driving agile vehicles in spatial environments or performing complex surgeries. This research studies how…

Autonomous robots operating in dynamic environments must maintain beliefs over a hypothesis space that is rich enough to represent the activities of interest at different scales. This is important both in order to accommodate the…

Robust and efficient learning remains a challenging problem in robotics, in particular with complex visual inputs. Inspired by human attention mechanism, with which we quickly process complex visual scenes and react to changes in the…

Biological neural networks operate in the presence of task disruptions as they guide organisms toward goals. A familiar stream of stimulus-response causations can be disrupted by subtask streams imposed by the environment. For example,…

How can animals behave effectively in conditions involving different motivational contexts? Here, we propose how reinforcement learning neural networks can learn optimal behavior for dynamically changing motivational salience vectors.…

Given a two-dimensional polygonal space, the multi-robot visibility-based pursuit-evasion problem tasks several pursuer robots with the goal of establishing visibility with an arbitrarily fast evader. The best known complete algorithm for…

There are two approaches for simulating memory as well as learning in artificial intelligence; the functionalistic approach and the cognitive approach. The necessary condition to put the second approach into account is to provide a model of…

Imitation learning is an effective tool for robotic learning tasks where specifying a reinforcement learning (RL) reward is not feasible or where the exploration problem is particularly difficult. Imitation, typically behavior cloning or…

In this paper, we train a recurrent neural network to learn dynamics of a chaotic road environment and to project the future of the environment on an image. Future projection can be used to anticipate an unseen environment for example, in…

Visual reinforcement learning has proven effective in solving control tasks with high-dimensional observations. However, extracting reliable and generalizable representations from vision-based observations remains a central challenge.…

Nowadays, mobile robots are deployed in many indoor environments, such as offices or hospitals. These environments are subject to changes in the traversability that often happen by following repeating patterns. In this paper, we investigate…

Learning to navigate unknown environments from scratch is a challenging problem. This work presents a system that integrates world models with curiosity-driven exploration for autonomous navigation in new environments. We evaluate…

Visual imitation learning provides a framework for learning complex manipulation behaviors by leveraging human demonstrations. However, current interfaces for imitation such as kinesthetic teaching or teleoperation prohibitively restrict…

Humans learn to solve tasks of increasing complexity by building on top of previously acquired knowledge. Typically, there exists a natural progression in the tasks that we learn - most do not require completely independent solutions, but…

Visual Teach and Repeat has shown relative navigation is a robust and efficient solution for autonomous vision-based path following in difficult environments. Adding additional absolute sensors such as Global Navigation Satellite Systems…

In this paper, we introduce and test our algorithm to create a road network representation for city-scale active transportation simulation models. The algorithm relies on open and universal data to ensure applicability for different cities…

Graph embedding methods represent nodes in a continuous vector space, preserving information from the graph (e.g. by sampling random walks). There are many hyper-parameters to these methods (such as random walk length) which have to be…

There has been increasing attention on planning model learning in classical planning. Most existing approaches, however, focus on learning planning models from structured data in symbolic representations. It is often difficult to obtain…

Although Monte Carlo path tracing is a simple and effective algorithm to synthesize photo-realistic images, it is often very slow to converge to noise-free results when involving complex global illumination. One of the most successful…