相关论文: The StreetLearn Environment and Dataset

Autonomous navigation in off-road conditions requires an accurate estimation of terrain traversability. However, traversability estimation in unstructured environments is subject to high uncertainty due to the variability of numerous…

Deep reinforcement learning (RL) has been successfully applied to a variety of game-like environments. However, the application of deep RL to visual navigation with realistic environments is a challenging task. We propose a novel learning…

The advent of deep learning has inspired research into end-to-end learning for a variety of problem domains in robotics. For navigation, the resulting methods may not have the generalization properties desired let alone match the…

We present Interactive Gibson Benchmark, the first comprehensive benchmark for training and evaluating Interactive Navigation: robot navigation strategies where physical interaction with objects is allowed and even encouraged to accomplish…

We study the problem of learning a navigation policy for a robot to actively search for an object of interest in an indoor environment solely from its visual inputs. While scene-driven visual navigation has been widely studied, prior…

Navigating urban environments represents a complex task for automated vehicles. They must reach their goal safely and efficiently while considering a multitude of traffic participants. We propose a modular decision making algorithm to…

Robots need to be able to work in multiple different environments. Even when performing similar tasks, different behaviour should be deployed to best fit the current environment. In this paper, We propose a new approach to navigation, where…

Navigation in dense crowds is a well-known open problem in robotics with many challenges in mapping, localization, and planning. Traditional solutions consider dense pedestrians as passive/active moving obstacles that are the cause of all…

Autonomous navigation in off-road environments remains a significant challenge in field robotics, particularly for Unmanned Ground Vehicles (UGVs) tasked with search and rescue, exploration, and surveillance. Effective long-range planning…

Autonomous systems, including robots and drones, face significant challenges when navigating through dynamic environments, particularly within urban settings where obstacles, fluctuating traffic, and pedestrian activity are constantly…

We introduce Synscapes -- a synthetic dataset for street scene parsing created using photorealistic rendering techniques, and show state-of-the-art results for training and validation as well as new types of analysis. We study the behavior…

Robotic navigation in environments shared with other robots or humans remains challenging because the intentions of the surrounding agents are not directly observable and the environment conditions are continuously changing. Local…

In autonomous driving, navigation through unsignaled intersections with many traffic participants moving around is a challenging task. To provide a solution to this problem, we propose a novel branched network G-CIL for the navigation…

Robustly classifying ground infrastructure such as roads and street crossings is an essential task for mobile robots operating alongside pedestrians. While many semantic segmentation datasets are available for autonomous vehicles, models…

We propose to take a novel approach to robot system design where each building block of a larger system is represented as a differentiable program, i.e. a deep neural network. This representation allows for integrating algorithmic planning…

Deep neural networks trained on demonstrations of human actions give robot the ability to perform self-driving on the road. However, navigation in a pedestrian-rich environment, such as a campus setup, is still challenging---one needs to…

Vision and language navigation (VLN) is a challenging visually-grounded language understanding task. Given a natural language navigation instruction, a visual agent interacts with a graph-based environment equipped with panorama images and…

Breakthroughs in machine learning in the last decade have led to `digital intelligence', i.e. machine learning models capable of learning from vast amounts of labeled data to perform several digital tasks such as speech recognition, face…

Socially aware navigation is a fast-evolving research area in robotics that enables robots to move within human environments while adhering to the implicit human social norms. The advent of Deep Reinforcement Learning (DRL) has accelerated…

Recent progress in research on Deep Graph Networks (DGNs) has led to a maturation of the domain of learning on graphs. Despite the growth of this research field, there are still important challenges that are yet unsolved. Specifically,…