相关论文: Cross-View Policy Learning for Street Navigation

Vision-and-language navigation (VLN) agents are trained to navigate in real-world environments by following natural language instructions. A major challenge in VLN is the limited availability of training data, which hinders the models'…

To enhance the cross-target and cross-scene generalization of target-driven visual navigation based on deep reinforcement learning (RL), we introduce an information-theoretic regularization term into the RL objective. The regularization…

Reinforcement Learning (RL), among other learning-based methods, represents powerful tools to solve complex robotic tasks (e.g., actuation, manipulation, navigation, etc.), with the need for real-world data to train these systems as one of…

Reinforcement Learning (RL) has achieved remarkable success in various domains, yet it often relies on carefully designed programmatic reward functions to guide agent behavior. Designing such reward functions can be challenging and may not…

Reinforcement Learning (RL) enables an intelligent agent to optimise its performance in a task by continuously taking action from an observed state and receiving a feedback from the environment in form of rewards. RL typically uses tables…

Robot-assisted dressing could profoundly enhance the quality of life of adults with physical disabilities. To achieve this, a robot can benefit from both visual and force sensing. The former enables the robot to ascertain human body pose…

Lane change is a crucial vehicle maneuver which needs coordination with surrounding vehicles. Automated lane changing functions built on rule-based models may perform well under pre-defined operating conditions, but they may be prone to…

When learning to behave in a stochastic environment where safety is critical, such as driving a vehicle in traffic, it is natural for human drivers to plan fallback strategies as a backup to use if ever there is an unexpected change in the…

Single-task learning in artificial neural networks will be able to learn the model very well, and the benefits brought by transferring knowledge thus become limited. In this regard, when the number of tasks increases (e.g., semantic…

Accurately detecting 3D objects from monocular images in dynamic roadside scenarios remains a challenging problem due to varying camera perspectives and unpredictable scene conditions. This paper introduces a two-stage training strategy to…

Diffusion-based robot navigation policies trained on large-scale imitation learning datasets, can generate multi-modal trajectories directly from the robot's visual observations, bypassing the traditional localization-mapping-planning…

Vision-based robotic policies often struggle with even minor viewpoint changes, underscoring the need for view-invariant visual representations. This challenge becomes more pronounced in real-world settings, where viewpoint variability is…

Navigating unsignalized intersections in urban environments poses a complex challenge for self-driving vehicles, where issues such as view obstructions, unpredictable pedestrian crossings, and diverse traffic participants demand a great…

Deep reinforcement learning in continuous domains focuses on learning control policies that map states to distributions over actions that ideally concentrate on the optimal choices in each step. In multi-agent navigation problems, the…

The large variation of viewpoint and irrelevant content around the target always hinder accurate image retrieval and its subsequent tasks. In this paper, we investigate an extremely challenging task: given a ground-view image of a landmark,…

Vision-Language Navigation (VLN) aims to guide agents by leveraging language instructions and visual cues, playing a pivotal role in embodied AI. Indoor VLN has been extensively studied, whereas outdoor aerial VLN remains underexplored. The…

Understanding mobility, movement, and interaction in archaeological landscapes is essential for interpreting past human behavior, transport strategies, and spatial organization, yet such processes are difficult to reconstruct from static…

We propose a vision-based method that localizes a ground vehicle using publicly available satellite imagery as the only prior knowledge of the environment. Our approach takes as input a sequence of ground-level images acquired by the…

In recent years, increasing attention has been directed to leveraging pre-trained vision models for motor control. While existing works mainly emphasize the importance of this pre-training phase, the arguably equally important role played…

Learning to navigate in a realistic setting where an agent must rely solely on visual inputs is a challenging task, in part because the lack of position information makes it difficult to provide supervision during training. In this paper,…