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

Planning has been very successful for control tasks with known environment dynamics. To leverage planning in unknown environments, the agent needs to learn the dynamics from interactions with the world. However, learning dynamics models…

Understanding how humans leverage prior knowledge to navigate unseen environments while making exploratory decisions is essential for developing autonomous robots with similar abilities. In this work, we propose ForesightNav, a novel…

Being able to perceive the semantics and the spatial structure of the environment is essential for visual navigation of a household robot. However, most existing works only employ visual backbones pre-trained either with independent images…

In this paper, we address the problem of predicting the future motion of a dynamic agent (called a target agent) given its current and past states as well as the information on its environment. It is paramount to develop a prediction model…

An emerging paradigm in vision-and-language navigation (VLN) is the use of history-aware multi-modal transformer models. Given a language instruction, these models process observation and navigation history to predict the most appropriate…

Endowing robots with human-like physical reasoning abilities remains challenging. We argue that existing methods often disregard spatio-temporal relations and by using Graph Neural Networks (GNNs) that incorporate a relational inductive…

This paper targets on learning-based novel view synthesis from a single or limited 2D images without the pose supervision. In the viewer-centered coordinates, we construct an end-to-end trainable conditional variational framework to…

In model-based reinforcement learning, generative and temporal models of environments can be leveraged to boost agent performance, either by tuning the agent's representations during training or via use as part of an explicit planning…

Data augmentation has been shown to effectively improve the performance of multimodal machine learning models. This paper introduces a generative model for data augmentation by leveraging the correlations among multiple modalities.…

We introduce nested diffusion models, an efficient and powerful hierarchical generative framework that substantially enhances the generation quality of diffusion models, particularly for images of complex scenes. Our approach employs a…

Modern Generative Adversarial Networks are capable of creating artificial, photorealistic images from latent vectors living in a low-dimensional learned latent space. It has been shown that a wide range of images can be projected into this…

Predicting future sensory states is crucial for learning agents such as robots, drones, and autonomous vehicles. In this paper, we couple multiple sensory modalities with exploratory actions and propose a predictive neural network…

We develop a language-guided navigation task set in a continuous 3D environment where agents must execute low-level actions to follow natural language navigation directions. By being situated in continuous environments, this setting lifts a…

Outdoor webcam images are an information-dense yet accessible visualization of past and present weather conditions, and are consulted by meteorologists and the general public alike. Weather forecasts, however, are still communicated as…

For autonomous vehicles (AVs) to behave appropriately on roads populated by human-driven vehicles, they must be able to reason about the uncertain intentions and decisions of other drivers from rich perceptual information. Towards these…

In audio-visual navigation (AVN), an intelligent agent needs to navigate to a constantly sound-making object in complex 3D environments based on its audio and visual perceptions. While existing methods attempt to improve the navigation…

Existing work on vision and language navigation mainly relies on navigation-related losses to establish the connection between vision and language modalities, neglecting aspects of helping the navigation agent build a deep understanding of…

New technologies for recording the activity of large neural populations during complex behavior provide exciting opportunities for investigating the neural computations that underlie perception, cognition, and decision-making. Nonlinear…

A key advance in learning generative models is the use of amortized inference distributions that are jointly trained with the models. We find that existing training objectives for variational autoencoders can lead to inaccurate amortized…

Vision-Language Navigation (VLN) systems are fundamentally constrained by partial observability, as an agent can only accumulate knowledge from locations it has personally visited. As multiple robots increasingly coexist in shared…