相关论文: NeoNav: Improving the Generalization of Visual Nav…

Visual navigation is often cast as a reinforcement learning (RL) problem. Current methods typically result in a suboptimal policy that learns general obstacle avoidance and search behaviours. For example, in the target-object navigation…

Generative adversarial networks are the state of the art approach towards learned synthetic image generation. Although early successes were mostly unsupervised, bit by bit, this trend has been superseded by approaches based on labelled…

We present an interpretable framework for path prediction that leverages dependencies between agents' behaviors and their spatial navigation environment. We exploit two sources of information: the past motion trajectory of the agent of…

We present a reward-predictive, model-based deep learning method featuring trajectory-constrained visual attention for local planning in visual navigation tasks. Our method learns to place visual attention at locations in latent image space…

State-of-the-art navigation methods leverage a spatial memory to generalize to new environments, but their occupancy maps are limited to capturing the geometric structures directly observed by the agent. We propose occupancy anticipation,…

Visualizing high-dimensional datasets through a generalized embedding has been a challenge for a long time. Several methods have shown up for the same, but still, they have not been able to generate a generalized embedding, which not only…

The ability to perform effective planning is crucial for building an instruction-following agent. When navigating through a new environment, an agent is challenged with (1) connecting the natural language instructions with its progressively…

Recent deep generative models are able to provide photo-realistic images as well as visual or textual content embeddings useful to address various tasks of computer vision and natural language processing. Their usefulness is nevertheless…

Successful Human-Robot collaboration requires a predictive model of human behavior. The robot needs to be able to recognize current goals and actions and to predict future activities in a given context. However, the spatio-temporal sequence…

End-to-end optimization has achieved state-of-the-art performance on many specific problems, but there is no straight-forward way to combine pretrained models for new problems. Here, we explore improving modularity by learning a post-hoc…

The availability of data is limited in some fields, especially for object detection tasks, where it is necessary to have correctly labeled bounding boxes around each object. A notable example of such data scarcity is found in the domain of…

Image-goal navigation steers an agent to a target location specified by an image in unseen environments. Existing methods primarily handle this task by learning an end-to-end navigation policy, which compares the similarities of target and…

The advances in deep reinforcement learning recently revived interest in data-driven learning based approaches to navigation. In this paper we propose to learn viewpoint invariant and target invariant visual servoing for local mobile robot…

In this paper, we present a novel approach to incrementally learn an Abstract Model of an unknown environment, and show how an agent can reuse the learned model for tackling the Object Goal Navigation task. The Abstract Model is a finite…

Accurate tourism demand forecasting is hindered by limited historical data and complex spatiotemporal dependencies among tourist origins. A novel forecasting framework integrating virtual sample generation and a novel Transformer predictor…

Object Goal Navigation (ObjectNav) refers to an agent navigating to an object in an unseen environment, which is an ability often required in the accomplishment of complex tasks. While existing methods demonstrate proficiency in isolated…

In the past, normalizing generative flows have emerged as a promising class of generative models for natural images. This type of model has many modeling advantages: the ability to efficiently compute log-likelihood of the input data, fast…

We present DreamToNav, a novel autonomous robot framework that uses generative video models to enable intuitive, human-in-the-loop control. Instead of relying on rigid waypoint navigation, users provide natural language prompts (e.g.…

By and large, existing computational models of visual attention tacitly assume perfect vision and full access to the stimulus and thereby deviate from foveated biological vision. Moreover, modeling top-down attention is generally reduced to…

Understanding the geometric relationships between objects in a scene is a core capability in enabling both humans and autonomous agents to navigate in new environments. A sparse, unified representation of the scene topology will allow…