相关论文: Reinforcement Learning-based Visual Navigation wit…

Deep reinforcement learning (RL) has been successfully applied to a variety of game-like environments. However, the application of deep RL to visual navigation with realistic environments is a challenging task. We propose a novel learning…

Two less addressed issues of deep reinforcement learning are (1) lack of generalization capability to new target goals, and (2) data inefficiency i.e., the model requires several (and often costly) episodes of trial and error to converge,…

Embodied artificial intelligence (AI) tasks shift from tasks focusing on internet images to active settings involving embodied agents that perceive and act within 3D environments. In this paper, we investigate the target-driven visual…

Despite the significant progress of deep reinforcement learning (RL) in solving sequential decision making problems, RL agents often overfit to training environments and struggle to adapt to new, unseen environments. This prevents robust…

In many reinforcement learning (RL) applications, the observation space is specified by human developers and restricted by physical realizations, and may thus be subject to dramatic changes over time (e.g. increased number of observable…

Target-driven visual navigation aims at navigating an agent towards a given target based on the observation of the agent. In this task, it is critical to learn informative visual representation and robust navigation policy. Aiming to…

In order for autonomous mobile robots to navigate in human spaces, they must abide by our social norms. Reinforcement learning (RL) has emerged as an effective method to train sequential decision-making policies that are able to respect…

In the context of visual navigation, the capacity to map a novel environment is necessary for an agent to exploit its observation history in the considered place and efficiently reach known goals. This ability can be associated with spatial…

This work presents a case study of a learning-based approach for target driven map-less navigation. The underlying navigation model is an end-to-end neural network which is trained using a combination of expert demonstrations, imitation…

We study reinforcement learning (RL) problems in which agents observe the reward or transition realizations at their current state before deciding which action to take. Such observations are available in many applications, including…

Recent advances at the intersection of reinforcement learning (RL) and visual intelligence have enabled agents that not only perceive complex visual scenes but also reason, generate, and act within them. This survey offers a critical and…

In the vision and language navigation task, the agent may encounter ambiguous situations that are hard to interpret by just relying on visual information and natural language instructions. We propose an interactive learning framework to…

We propose improving the cross-target and cross-scene generalization of visual navigation through learning an agent that is guided by conceiving the next observations it expects to see. This is achieved by learning a variational Bayesian…

This work focuses on enhancing the generalization performance of deep reinforcement learning-based robot navigation in unseen environments. We present a novel data augmentation approach called scenario augmentation, which enables robots to…

Object goal navigation aims to steer an agent towards a target object based on observations of the agent. It is of pivotal importance to design effective visual representations of the observed scene in determining navigation actions. In…

We have observed significant progress in visual navigation for embodied agents. A common assumption in studying visual navigation is that the environments are static; this is a limiting assumption. Intelligent navigation may involve…

We present a target-driven navigation system to improve mapless visual navigation in indoor scenes. Our method takes a multi-view observation of a robot and a target as inputs at each time step to provide a sequence of actions that move the…

Visual navigation is essential for many applications in robotics, from manipulation, through mobile robotics to automated driving. Deep reinforcement learning (DRL) provides an elegant map-free approach integrating image processing,…

Maritime autonomous transportation has played a crucial role in the globalization of the world economy. Deep Reinforcement Learning (DRL) has been applied to automatic path planning to simulate vessel collision avoidance situations in open…

Predicting distant future trajectories of agents in a dynamic scene is not an easy problem because the future trajectory of an agent is affected by not only his/her past trajectory but also the scene contexts. To tackle this problem, we…