相关论文: Evolving Indoor Navigational Strategies Using Gate…

Simultaneous localization and mapping (SLAM) is a critical capability in autonomous navigation, but memory and computational limits make long-term application of common SLAM techniques impractical; a robot must be able to determine what…

The evolving field of mobile robotics has indeed increased the demand for simultaneous localization and mapping (SLAM) systems. To augment the localization accuracy and mapping efficacy of SLAM, we refined the core module of the SLAM…

Simultaneous Localization and Mapping (SLAM)consists in the concurrent construction of a model of the environment (the map), and the estimation of the state of the robot moving within it. The SLAM community has made astonishing progress…

This paper studies the problem of image-goal navigation which involves navigating to the location indicated by a goal image in a novel previously unseen environment. To tackle this problem, we design topological representations for space…

Neural implicit representations have recently shown encouraging results in various domains, including promising progress in simultaneous localization and mapping (SLAM). Nevertheless, existing methods produce over-smoothed scene…

Controlling robots through natural language is pivotal for enhancing human-robot collaboration and synthesizing complex robot behaviors. Recent works that are trained on large robot datasets show impressive generalization abilities.…

Patient movement in emission tomography deteriorates reconstruction quality because of motion blur. Gating the data improves the situation somewhat: each gate contains a movement phase which is approximately stationary. A standard method is…

Simultaneous Localization and Mapping (SLAM) estimates agents' trajectories and constructs maps, and localization is a fundamental kernel in autonomous machines at all computing scales, from drones, AR, VR to self-driving cars. In this…

This paper presents a method for robust optimization for online incremental Simultaneous Localization and Mapping (SLAM). Due to the NP-Hardness of data association in the presence of perceptual aliasing, tractable (approximate) approaches…

The ability to learn continuously from an incoming data stream without catastrophic forgetting is critical for designing intelligent systems. Many existing approaches to continual learning rely on stochastic gradient descent and its…

Parameter-efficient tuning (PET) methods fit pre-trained language models (PLMs) to downstream tasks by either computing a small compressed update for a subset of model parameters, or appending and fine-tuning a small number of new model…

Simultaneous Localization and Mapping (SLAM) in large-scale, unknown, and complex subterranean environments is a challenging problem. Sensors must operate in off-nominal conditions; uneven and slippery terrains make wheel odometry…

Neural architecture search (NAS) has become a key component of AutoML and a standard tool to automate the design of deep neural networks. Recently, training-free NAS as an emerging paradigm has successfully reduced the search costs of…

Recent advances have improved autonomous navigation and mapping under payload constraints, but current multi-robot inspection algorithms are unsuitable for nano-drones due to their need for heavy sensors and high computational resources. To…

The time-series forecasting (TSF) problem is a traditional problem in the field of artificial intelligence. Models such as Recurrent Neural Network (RNN), Long Short Term Memory (LSTM), and GRU (Gate Recurrent Units) have contributed to…

One approach to Imitation Learning is Behavior Cloning, in which a robot observes a supervisor and infers a control policy. A known problem with this "off-policy" approach is that the robot's errors compound when drifting away from the…

Recent innovations in Transformer-based large language models have significantly advanced the field of general-purpose neural language understanding and generation. With billions of trainable parameters, deployment of these large models…

We introduce MUTE-SLAM, a real-time neural RGB-D SLAM system employing multiple tri-plane hash-encodings for efficient scene representation. MUTE-SLAM effectively tracks camera positions and incrementally builds a scalable multi-map…

We introduce PropNEAT, a fast backpropagation implementation of NEAT that uses a bidirectional mapping of the genome graph to a layer-based architecture that preserves the NEAT genomes whilst enabling efficient GPU backpropagation. We test…

This paper introduces two recurrent neural network structures called Simple Gated Unit (SGU) and Deep Simple Gated Unit (DSGU), which are general structures for learning long term dependencies. Compared to traditional Long Short-Term Memory…