相关论文: Learning to Navigate from Simulation via Spatial a…

Embodied agents require robust navigation systems to operate in unstructured environments, making the robustness of Simultaneous Localization and Mapping (SLAM) models critical to embodied agent autonomy. While real-world datasets are…

Traveling waves of neural activity are widely observed in the brain, but their precise computational function remains unclear. One prominent hypothesis is that they enable the transfer and integration of spatial information across neural…

Recent work in Vision-and-Language Navigation (VLN) has presented two environmental paradigms with differing realism -- the standard VLN setting built on topological environments where navigation is abstracted away, and the VLN-CE setting…

For driver observation frameworks, clean datasets collected in controlled simulated environments often serve as the initial training ground. Yet, when deployed under real driving conditions, such simulator-trained models quickly face the…

Recently, learning-based approaches show promising results in navigation tasks. However, the poor generalization capability and the simulation-reality gap prevent a wide range of applications. We consider the problem of improving the…

Vision-and-Language Navigation (VLN) has long been constrained by the limited diversity and scalability of simulator-curated datasets, which fail to capture the complexity of real-world environments. To overcome this limitation, we…

Robotic learning in simulation environments provides a faster, more scalable, and safer training methodology than learning directly with physical robots. Also, synthesizing images in a simulation environment for collecting large-scale image…

We present a method for synthesizing naturally looking images of multiple people interacting in a specific scenario. These images benefit from the advantages of synthetic data: being fully controllable and fully annotated with any type of…

We propose spatially-adaptive normalization, a simple but effective layer for synthesizing photorealistic images given an input semantic layout. Previous methods directly feed the semantic layout as input to the deep network, which is then…

Indoor scene understanding is central to applications such as robot navigation and human companion assistance. Over the last years, data-driven deep neural networks have outperformed many traditional approaches thanks to their…

We describe a policy learning approach to map visual inputs to driving controls conditioned on turning command that leverages side tasks on semantics and object affordances via a learned representation trained for driving. To learn this…

Localization in topological maps is essential for image-based navigation using an RGB camera. Localization using only one camera can be challenging in medium-to-large-sized environments because similar-looking images are often observed…

We propose a light-weight, self-supervised adaptation for a visual navigation agent to generalize to unseen environment. Given an embodied agent trained in a noiseless environment, our objective is to transfer the agent to a noisy…

Exploiting synthetic data to learn deep models has attracted increasing attention in recent years. However, the intrinsic domain difference between synthetic and real images usually causes a significant performance drop when applying the…

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…

People navigating in unfamiliar buildings take advantage of myriad visual, spatial and semantic cues to efficiently achieve their navigation goals. Towards equipping computational agents with similar capabilities, we introduce Pathdreamer,…

Vision-and-language navigation (VLN) agents are trained to navigate in real-world environments by following natural language instructions. A major challenge in VLN is the limited availability of training data, which hinders the models'…

Many machine learning applications can benefit from simulated data for systematic validation - in particular if real-life data is difficult to obtain or annotate. However, since simulations are prone to domain shift w.r.t. real-life data,…

Recent studies in Vision-and-Language Navigation (VLN) train RL agents to execute natural-language navigation instructions in photorealistic environments, as a step towards robots that can follow human instructions. However, given the…

Humans have a natural ability to perform semantic associations with the surrounding objects in the environment. This allows them to create a mental map of the environment, allowing them to navigate on-demand when given linguistic…