相关论文: The StreetLearn Environment and Dataset
Vision-and-Language Navigation (VLN) is a task where an agent navigates in an embodied indoor environment under human instructions. Previous works ignore the distribution of sample difficulty and we argue that this potentially degrade their…
Modern power systems will have to face difficult challenges in the years to come: frequent blackouts in urban areas caused by high power demand peaks, grid instability exacerbated by intermittent renewable generation, and global climate…
Vision-and-Language Navigation (VLN) requires an agent to ground language instructions to its own movement within a visual environment. While state-of-the-art methods leverage the reasoning capabilities of Vision-Language Models (VLMs) for…
Robots moving safely and in a socially compliant manner in dynamic human environments is an essential benchmark for long-term robot autonomy. However, it is not feasible to learn and benchmark social navigation behaviors entirely in the…
Vision-language navigation (VLN) is the task of entailing an agent to carry out navigational instructions inside photo-realistic environments. One of the key challenges in VLN is how to conduct a robust navigation by mitigating the…
Adapting to social conventions is an unavoidable requirement for the acceptance of assistive and social robots. While the scientific community broadly accepts that assistive robots and social robot companions are unlikely to have widespread…
The advancement of socially-aware autonomous vehicles hinges on precise modeling of human behavior. Within this broad paradigm, the specific challenge lies in accurately predicting pedestrian's trajectory and intention. Traditional…
Autonomous navigation is a key skill for assistive and service robots. To be successful, robots have to minimise the disruption caused to humans while moving. This implies predicting how people will move and complying with social…
Last-mile delivery systems commonly propose the use of autonomous robotic vehicles to increase scalability and efficiency. The economic inefficiency of collecting accurate prior maps for navigation motivates the use of planning algorithms…
A big challenge in environmental monitoring is the spatiotemporal variation of the phenomena to be observed. To enable persistent sensing and estimation in such a setting, it is beneficial to have a time-varying underlying environmental…
The large-scale deployment of autonomous vehicles is yet to come, and one of the major remaining challenges lies in urban dense traffic scenarios. In such cases, it remains challenging to predict the future evolution of the scene and future…
Active Simultaneous Localization and Mapping (SLAM) is the problem of planning and controlling the motion of a robot to build the most accurate and complete model of the surrounding environment. Since the first foundational work in active…
Autonomous driving has become one of the most popular research topics within Artificial Intelligence. An autonomous vehicle is understood as a system that combines perception, decision-making, planning, and control. All of those tasks…
Core to the vision-and-language navigation (VLN) challenge is building robust instruction representations and action decoding schemes, which can generalize well to previously unseen instructions and environments. In this paper, we report…
Place recognition, the ability to identify previously visited locations, is critical for both biological navigation and autonomous systems. This review synthesizes findings from robotic systems, animal studies, and human research to explore…
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…
Continual learning is the problem of learning and retaining knowledge through time over multiple tasks and environments. Research has primarily focused on the incremental classification setting, where new tasks/classes are added at discrete…
The study of navigation behaviour and the associated brain dynamics have been a focus increasing research over the last decades. Coinciding with this has been an increased focus on a more ecological understanding of cognition. Here we…
Human beings cooperatively navigate rule-constrained environments by adhering to mutually known navigational patterns, which may be represented as directional pathways or road lanes. Inferring these navigational patterns from incompletely…
The rapid development of urbanization during the past decades has significantly improved people's lives but also introduced new challenges on effective functional urban planning and transportation management. The functional regions defined…