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

There has been an increasing interest in 3D indoor navigation, where a robot in an environment moves to a target according to an instruction. To deploy a robot for navigation in the physical world, lots of training data is required to learn…

Learned visuomotor policies have shown considerable success as an alternative to traditional, hand-crafted frameworks for robotic manipulation. Surprisingly, an extension of these methods to the multiview domain is relatively unexplored. A…

Autonomous tracking of flying aerial objects has important civilian and defense applications, ranging from search and rescue to counter-unmanned aerial systems (counter-UAS). Ground based tracking requires setting up infrastructure, could…

"Embodied visual navigation" problem requires an agent to navigate in a 3D environment mainly rely on its first-person observation. This problem has attracted rising attention in recent years due to its wide application in autonomous…

Visual navigation is a task of training an embodied agent by intelligently navigating to a target object (e.g., television) using only visual observations. A key challenge for current deep reinforcement learning models lies in the…

The emerging vision-and-language navigation (VLN) problem aims at learning to navigate an agent to the target location in unseen photo-realistic environments according to the given language instruction. The main challenges of VLN arise…

Visual navigation is essential for many applications in robotics, from manipulation, through mobile robotics to automated driving. Deep reinforcement learning (DRL) provides an elegant map-free approach integrating image processing,…

Deep learning has raised hopes and expectations as a general solution for many applications; indeed it has proven effective, but it also showed a strong dependence on large quantities of data. Luckily, it has been shown that, even when data…

Learning policies which are robust to changes in the environment are critical for real world deployment of Reinforcement Learning agents. They are also necessary for achieving good generalization across environment shifts. We focus on…

A grand goal in AI is to build a robot that can accurately navigate based on natural language instructions, which requires the agent to perceive the scene, understand and ground language, and act in the real-world environment. One key…

Mobile service robots are increasingly prevalent in human-centric, real-world domains, operating autonomously in unconstrained indoor environments. In such a context, robotic vision plays a central role in enabling service robots to…

Moving in dynamic pedestrian environments is one of the important requirements for autonomous mobile robots. We present a model-based reinforcement learning approach for robots to navigate through crowded environments. The navigation policy…

Safe navigation is essential for autonomous systems operating in hazardous environments. Traditional planning methods excel at long-horizon tasks but rely on a predefined graph with fixed distance metrics. In contrast, safe Reinforcement…

The ability to transfer a policy from one environment to another is a promising avenue for efficient robot learning in realistic settings where task supervision is not available. This can allow us to take advantage of environments well…

Learned Neural Network based policies have shown promising results for robot navigation. However, most of these approaches fall short of being used on a real robot due to the extensive simulated training they require. These simulations lack…

Route planning for navigation under partial observability plays a crucial role in modern robotics and autonomous driving. Existing route planning approaches can be categorized into two main classes: traditional autoregressive and…

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…

Visual Reinforcement Learning (RL) agents trained on limited views face significant challenges in generalizing their learned abilities to unseen views. This inherent difficulty is known as the problem of $\textit{view generalization}$. In…

Robotic learning for navigation in unfamiliar environments needs to provide policies for both task-oriented navigation (i.e., reaching a goal that the robot has located), and task-agnostic exploration (i.e., searching for a goal in a novel…

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…