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

Autonomous driving requires an understanding of the static environment from sensor data. Learned Bird's-Eye View (BEV) encoders are commonly used to fuse multiple inputs, and a vector decoder predicts a vectorized map representation from…

Leveraging future observation modeling to facilitate action generation presents a promising avenue for enhancing the capabilities of Vision-Language-Action (VLA) models. However, existing approaches struggle to strike a balance between…

Goal-driven mobile robot navigation in map-less environments requires effective state representations for reliable decision-making. Inspired by the favorable properties of Bird's-Eye View (BEV) in point clouds for visual perception, this…

Dashboard cameras capture a tremendous amount of driving scene video each day. These videos are purposefully coupled with vehicle sensing data, such as from the speedometer and inertial sensors, providing an additional sensing modality for…

Visual navigation for autonomous agents is a core task in the fields of computer vision and robotics. Learning-based methods, such as deep reinforcement learning, have the potential to outperform the classical solutions developed for this…

Learning to generate natural scenes has always been a daunting task in computer vision. This is even more laborious when generating images with very different views. When the views are very different, the view fields have little overlap or…

Learning low-dimensional latent state space dynamics models has been a powerful paradigm for enabling vision-based planning and learning for control. We introduce a latent dynamics learning framework that is uniquely designed to induce…

In this work, we introduce a two-step framework for generative modeling of temporal data. Specifically, the generative adversarial networks (GANs) setting is employed to generate synthetic scenes of moving objects. To do so, we propose a…

This paper addresses the problem of novel view synthesis by means of neural rendering, where we are interested in predicting the novel view at an arbitrary camera pose based on a given set of input images from other viewpoints. Using the…

Enabling embodied agents to imagine future states is essential for robust and generalizable visual navigation. Yet, state-of-the-art systems typically rely on modular designs that decouple navigation planning from visual world modeling,…

Current research in Visual Navigation reveals opportunities for improvement. First, the direct adoption of RNNs and Transformers often overlooks the specific differences between Embodied AI and traditional sequential data modelling,…

We present Visual AutoRegressive modeling (VAR), a new generation paradigm that redefines the autoregressive learning on images as coarse-to-fine "next-scale prediction" or "next-resolution prediction", diverging from the standard…

Recent research efforts enable study for natural language grounded navigation in photo-realistic environments, e.g., following natural language instructions or dialog. However, existing methods tend to overfit training data in seen…

In this paper, we present Goal-GAN, an interpretable and end-to-end trainable model for human trajectory prediction. Inspired by human navigation, we model the task of trajectory prediction as an intuitive two-stage process: (i) goal…

When perceiving the world from multiple viewpoints, humans have the ability to reason about the complete objects in a compositional manner even when an object is completely occluded from certain viewpoints. Meanwhile, humans are able to…

We introduce a framework for learning robust visual representations that generalize to new viewpoints, backgrounds, and scene contexts. Discriminative models often learn naturally occurring spurious correlations, which cause them to fail on…

Fine-tuning is becoming widely used for leveraging the power of pre-trained foundation models in new downstream tasks. While there are many successes of fine-tuning on various tasks, recent studies have observed challenges in the…

With the rapidly growing model complexity and data volume, training deep generative models (DGMs) for better performance has becoming an increasingly more important challenge. Previous research on this problem has mainly focused on…

Embodied agents are expected to perform object navigation in dynamic, open-world environments. However, existing approaches typically rely on static trajectories and a fixed set of object categories during training, overlooking the…

Graph neural networks have emerged as a powerful tool for learning spatiotemporal interactions. However, conventional approaches often rely on predefined graphs, which may obscure the precise relationships being modeled. Additionally,…