相关论文: Long Range Neural Navigation Policies for the Real…

This paper investigates the automatic exploration problem under the unknown environment, which is the key point of applying the robotic system to some social tasks. The solution to this problem via stacking decision rules is impossible to…

This work focuses on the problem of visual target navigation, which is very important for autonomous robots as it is closely related to high-level tasks. To find a special object in unknown environments, classical and learning-based…

We present a large empirical investigation on the use of pre-trained visual representations (PVRs) for training downstream policies that execute real-world tasks. Our study involves five different PVRs, each trained for five distinct…

Reinforcement learning continuously optimizes decision-making based on real-time feedback reward signals through continuous interaction with the environment, demonstrating strong adaptive and self-learning capabilities. In recent years, it…

Autonomous navigation in unstructured environments is essential for field and planetary robotics, where robots must efficiently reach goals while avoiding obstacles under uncertain conditions. Conventional algorithmic approaches often…

Current robotic planning methods often rely on predicting multi-frame images with full pixel details. While this fine-grained approach can serve as a generic world model, it introduces two significant challenges for downstream policy…

The problem of multi-robot navigation of connectivity maintenance is challenging in multi-robot applications. This work investigates how to navigate a multi-robot team in unknown environments while maintaining connectivity. We propose a…

Deep reinforcement learning has great potential to acquire complex, adaptive behaviors for autonomous agents automatically. However, the underlying neural network polices have not been widely deployed in real-world applications, especially…

Effective robot navigation in unseen environments is a challenging task that requires precise control actions at high frequencies. Recent advances have framed it as an image-goal-conditioned control problem, where the robot generates…

In this work, an existing deep neural network approach for determining a robot's pose from visual information (RGB images) is modified, improving its localization performance without impacting its ease of training. Explicitly, the network's…

We present a novel approach for efficient and reliable goal-directed long-horizon navigation for a multi-robot team in a structured, unknown environment by predicting statistics of unknown space. Building on recent work in…

Autonomous robots must navigate reliably in unknown environments even under compromised exteroceptive perception, or perception failures. Such failures often occur when harsh environments lead to degraded sensing, or when the perception…

Vision-based robotics often separates the control loop into one module for perception and a separate module for control. It is possible to train the whole system end-to-end (e.g. with deep RL), but doing it "from scratch" comes with a high…

Visual Semantic Navigation (VSN) is the ability of a robot to learn visual semantic information for navigating in unseen environments. These VSN models are typically tested in those virtual environments where they are trained, mainly using…

This paper presents a self-improving lifelong learning framework for a mobile robot navigating in different environments. Classical static navigation methods require environment-specific in-situ system adjustment, e.g. from human experts,…

Recent years have witnessed significant progress in autonomous navigation using reinforcement learning. However, existing approaches largely emphasize reinforcement learning framework design, such as input representations, action spaces,…

Vision and learning have made significant progress that could improve robotics policies for complex tasks and environments. Learning deep neural networks for image understanding, however, requires large amounts of domain-specific visual…

We focus on developing efficient and reliable policy optimization strategies for robot learning with real-world data. In recent years, policy gradient methods have emerged as a promising paradigm for training control policies in simulation.…

We improve reliable, long-horizon, goal-directed navigation in partially-mapped environments by using non-locally available information to predict the goodness of temporally-extended actions that enter unseen space. Making predictions about…

GNNs are a paradigm-shifting neural architecture to facilitate the learning of complex multi-agent behaviors. Recent work has demonstrated remarkable performance in tasks such as flocking, multi-agent path planning and cooperative coverage.…