相关论文: VUSFA:Variational Universal Successor Features App…

We study reinforcement learning (RL) with no-reward demonstrations, a setting in which an RL agent has access to additional data from the interaction of other agents with the same environment. However, it has no access to the rewards or…

Visual navigation for robotics is inspired by the human ability to navigate environments using visual cues and memory, eliminating the need for detailed maps. In unseen, unmapped, or GPS-denied settings, traditional metric map-based methods…

Learning to navigate in dynamic and complex open-world environments is a critical yet challenging capability for autonomous robots. Existing approaches often rely on cascaded modular frameworks, which require extensive hyperparameter tuning…

How should we integrate representations from complementary sensors for autonomous driving? Geometry-based fusion has shown promise for perception (e.g. object detection, motion forecasting). However, in the context of end-to-end driving, we…

We demonstrate the use of semantic object detections as robust features for Visual Teach and Repeat (VTR). Recent CNN-based object detectors are able to reliably detect objects of tens or hundreds of categories in a video at frame rates. We…

This paper investigates the vision-based autonomous driving with deep learning and reinforcement learning methods. Different from the end-to-end learning method, our method breaks the vision-based lateral control system down into a…

Advances in visual navigation methods have led to intelligent embodied navigation agents capable of learning meaningful representations from raw RGB images and perform a wide variety of tasks involving structural and semantic reasoning.…

We propose a novel algorithm for accelerating dense long-term 3D point tracking in videos. Through analysis of existing state-of-the-art methods, we identify two major computational bottlenecks. First, transformer-based iterative tracking…

Deep Recurrent Neural Networks (RNN) is increasingly used in decision-making with temporal sequences. However, understanding how RNN models produce final predictions remains a major challenge. Existing work on interpreting RNN models for…

Visual navigation requires a whole range of capabilities. A crucial one of these is the ability of an agent to determine its own location and heading in an environment. Prior works commonly assume this information as given, or use methods…

Autonomous navigation in marine environments can be extremely challenging, especially in the presence of spatially varying flow disturbances and dynamic and static obstacles. In this work, we demonstrate that incorporating local flow field…

Text recognition in natural images remains a challenging yet essential task, with broad applications spanning computer vision and natural language processing. This paper introduces a novel end-to-end framework that combines ResNet and…

Discriminative representation is crucial for the association step in multi-object tracking. Recent work mainly utilizes features in single or neighboring frames for constructing metric loss and empowering networks to extract representation…

We introduce a variational approach to learning and inference of temporally hierarchical structure and representation for sequential data. We propose the Variational Temporal Abstraction (VTA), a hierarchical recurrent state space model…

Adversarial examples, crafted by adding perturbations imperceptible to humans, can deceive neural networks. Recent studies identify the adversarial transferability across various models, \textit{i.e.}, the cross-model attack ability of…

In autonomous driving, dynamic environment and corner cases pose significant challenges to the robustness of ego vehicle's state understanding and decision making. We introduce VDRive, a novel pipeline for end-to-end autonomous driving that…

Object-goal visual navigation aims to reach a specific target object using egocentric visual observations. Recent deep reinforcement learning (DRL) approaches have achieved promising success rates but often neglect collisions during…

Active target sensing is the task of discovering and classifying an unknown number of targets in an environment and is critical in search-and-rescue missions. This paper develops a deep reinforcement learning approach to plan informative…

We propose a universal video-level modality-awareness tracking model with online dense temporal token learning (called {\modaltracker}). It is designed to support various tracking tasks, including RGB, RGB+Thermal, RGB+Depth, and RGB+Event,…

Human motion retargeting aims to transfer the motion of one person in a "driving" video or set of images to another person. Existing efforts leverage a long training video from each target person to train a subject-specific motion transfer…