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

One powerful paradigm in visual navigation is to predict actions from observations directly. Training such an end-to-end system allows representations useful for downstream tasks to emerge automatically. However, the lack of inductive bias…

The burgeoning fields of robot learning and embodied AI have triggered an increasing demand for large quantities of data. However, collecting sufficient unbiased data from the target domain remains a challenge due to costly data collection…

We propose to address quadrupedal locomotion tasks using Reinforcement Learning (RL) with a Transformer-based model that learns to combine proprioceptive information and high-dimensional depth sensor inputs. While learning-based locomotion…

In this paper, we deal with the reality gap from a novel perspective, targeting transferring Deep Reinforcement Learning (DRL) policies learned in simulated environments to the real-world domain for visual control tasks. Instead of adopting…

Natural environments such as forests and grasslands are challenging for robotic navigation because of the false perception of rigid obstacles from high grass, twigs, or bushes. In this work, we present Wild Visual Navigation (WVN), an…

In recent years, unmanned aerial vehicle (UAV) related technology has expanded knowledge in the area, bringing to light new problems and challenges that require solutions. Furthermore, because the technology allows processes usually carried…

To proactively navigate and traverse various terrains, active use of visual perception becomes indispensable. We aim to investigate the feasibility and performance of using sparse visual observations to achieve perceptual locomotion over a…

Vision-and-Language Navigation (VLN) is a task where an agent navigates in an embodied indoor environment under human instructions. Previous works ignore the distribution of sample difficulty and we argue that this potentially degrade their…

Autonomous underwater navigation remains a challenging problem due to limited sensing capabilities and the difficulty of constructing accurate maps in underwater environments. In this paper, we propose a Diffusion-based Underwater Visual…

Autonomous visual navigation is an essential element in robot autonomy. Reinforcement learning (RL) offers a promising policy training paradigm. However existing RL methods suffer from high sample complexity, poor sim-to-real transfer, and…

Recent advances in vision-language models (VLMs) and reinforcement learning (RL) have driven progress in GUI automation. However, most existing methods rely on static, one-shot visual inputs and passive perception, lacking the ability to…

The data-driven approach to robot control has been gathering pace rapidly, yet generalization to unseen task domains remains a critical challenge. We argue that the key to generalization is representations that are (i) rich enough to…

We are witnessing significant progress on perception models, specifically those trained on large-scale internet images. However, efficiently generalizing these perception models to unseen embodied tasks is insufficiently studied, which will…

We use model-free reinforcement learning, extensive simulation, and transfer learning to develop a continuous control algorithm that has good zero-shot performance in a real physical environment. We train a simulated agent to act optimally…

Deep reinforcement learning (RL) has enabled training action-selection policies, end-to-end, by learning a function which maps image pixels to action outputs. However, it's application to visuomotor robotic policy training has been limited…

In this paper, we discuss and review how combined multi-view imagery from satellite to street-level can benefit scene analysis. Numerous works exist that merge information from remote sensing and images acquired from the ground for tasks…

Learning effective visuomotor policies for robots purely from data is challenging, but also appealing since a learning-based system should not require manual tuning or calibration. In the case of a robot operating in a real environment the…

This paper considers the problem of efficient exploration of unseen environments, a key challenge in AI. We propose a `learning to explore' framework where we learn a policy from a distribution of environments. At test time, presented with…

Automated driving in urban settings is challenging. Human participant behavior is difficult to model, and conventional, rule-based Automated Driving Systems (ADSs) tend to fail when they face unmodeled dynamics. On the other hand, the more…

When working around other agents such as humans, it is important to model their perception capabilities to predict and make sense of their behavior. In this work, we consider agents whose perception capabilities are determined by their…