相关论文: Learning to Learn How to Learn: Self-Adaptive Visu…

We study a novel problem that tackles learning based sensor scanning in 3D and uncertain environments with heterogeneous multi-robot systems. Our motivation is two-fold: first, 3D environments are complex, the use of heterogeneous…

Autonomous under-canopy navigation faces additional challenges compared to over-canopy settings - for example the tight spacing between the crop rows, degraded GPS accuracy and excessive clutter. Keypoint-based visual navigation has been…

Vision-and-Language Navigation (VLN) is a natural language grounding task where an agent learns to follow language instructions and navigate to specified destinations in real-world environments. A key challenge is to recognize and stop at…

When working alongside human collaborators in dynamic and unstructured environments, such as disaster recovery or military operation, fast field adaptation is necessary for an unmanned ground vehicle (UGV) to perform its duties or learn…

Self-supervised learning (SSL) aims to eliminate one of the major bottlenecks in representation learning - the need for human annotations. As a result, SSL holds the promise to learn representations from data in-the-wild, i.e., without the…

Machine learning provides a powerful tool for building socially compliant robotic systems that go beyond simple predictive models of human behavior. By observing and understanding human interactions from past experiences, learning can…

Realtime model learning proves challenging for complex dynamical systems, such as drones flying in variable wind conditions. Machine learning technique such as deep neural networks have high representation power but is often too slow to…

This paper addresses the challenge of active perception within autonomous navigation in complex, unknown environments. Revisiting the foundational principles of active perception, we introduce an end-to-end reinforcement learning framework…

Achieving reliable and safe autonomous driving in off-road environments requires accurate and efficient terrain traversability analysis. However, this task faces several challenges, including the scarcity of large-scale datasets tailored…

3D scene reconstruction from multiple views is an important classical problem in computer vision. Deep learning based approaches have recently demonstrated impressive reconstruction results. When training such models, self-supervised…

An important goal in reinforcement learning is to create agents that can quickly adapt to new goals while avoiding situations that might cause damage to themselves or their environments. One way agents learn is through exploration…

Vision-and-language navigation (VLN) is a multimodal task where an agent follows natural language instructions and navigates in visual environments. Multiple setups have been proposed, and researchers apply new model architectures or…

Continual learning aims to provide intelligent agents capable of learning multiple tasks sequentially with neural networks. One of its main challenging, catastrophic forgetting, is caused by the neural networks non-optimal ability to learn…

Meta-learning is a branch of machine learning which aims to quickly adapt models, such as neural networks, to perform new tasks by learning an underlying structure across related tasks. In essence, models are being trained to learn new…

Learning to navigate in a visual environment following natural language instructions is a challenging task because natural language instructions are highly variable, ambiguous, and under-specified. In this paper, we present a novel training…

For robotic vehicles to navigate robustly and safely in unseen environments, it is crucial to decide the most suitable navigation policy. However, most existing deep reinforcement learning based navigation policies are trained with a…

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…

In recent years, learning-based approaches have demonstrated significant promise in addressing intricate navigation tasks. Traditional methods for training deep neural network navigation policies rely on meticulously designed reward…

In the context of visual navigation, the capacity to map a novel environment is necessary for an agent to exploit its observation history in the considered place and efficiently reach known goals. This ability can be associated with spatial…

Vision Language Navigation (VLN) requires agents to follow natural language instructions by grounding them in sequential visual observations over long horizons. Explicit reasoning could enhance temporal consistency and perception action…