相关论文: Learning to Navigate Using Mid-Level Visual Priors

When humans perform a task, such as playing a game, they selectively pay attention to certain parts of the visual input, gathering relevant information and sequentially combining it to build a representation from the sensory data. In this…

Reliable obstacle avoidance in industrial settings demands 3D scene understanding, but widely used 2D LiDAR sensors perceive only a single horizontal slice of the environment, missing critical obstacles above or below the scan plane. We…

Demonstrations provide insight into relevant state or action space regions, bearing great potential to boost the efficiency and practicality of reinforcement learning agents. In this work, we propose to leverage demonstration datasets by…

Deep reinforcement learning (DRL) has been proven to be a powerful paradigm for learning complex control policy autonomously. Numerous recent applications of DRL in robotic grasping have successfully trained DRL robotic agents end-to-end,…

Deep networks trained on demonstrations of human driving have learned to follow roads and avoid obstacles. However, driving policies trained via imitation learning cannot be controlled at test time. A vehicle trained end-to-end to imitate…

The common approach for local navigation on challenging environments with legged robots requires path planning, path following and locomotion, which usually requires a locomotion control policy that accurately tracks a commanded velocity.…

Deep reinforcement learning augments the reinforcement learning framework and utilizes the powerful representation of deep neural networks. Recent works have demonstrated the remarkable successes of deep reinforcement learning in various…

Visual perception tasks often require vast amounts of labelled data, including 3D poses and image space segmentation masks. The process of creating such training data sets can prove difficult or time-intensive to scale up to efficacy for…

Learning good representations of historical contexts is one of the core challenges of reinforcement learning (RL) in partially observable environments. While self-predictive auxiliary tasks have been shown to improve performance in fully…

Although quadcopters boast impressive traversal capabilities enabled by their omnidirectional maneuverability, the need for continuous pilot control in complex environments impedes their application in GNSS and telemetry-denied scenarios.…

Learning to navigate in a visual environment following natural language instructions is a challenging task because natural language instructions are highly variable, ambiguous, and under-specified. In this paper, we present a novel training…

In the last few years we have seen a growing interest in machine learning approaches to computer vision and, especially, to semantic labeling. Nowadays state of the art systems use deep learning on millions of labeled images with very…

The existing methods for Vision and Language Navigation in the Continuous Environment (VLN-CE) commonly incorporate a waypoint predictor to discretize the environment. This simplifies the navigation actions into a view selection task and…

Transportation systems often rely on understanding the flow of vehicles or pedestrian. From traffic monitoring at the city scale, to commuters in train terminals, recent progress in sensing technology make it possible to use cameras to…

This paper investigates how the performance of visual navigation policies trained in simulation compares to policies trained with real-world data. Performance degradation of simulator-trained policies is often significant when they are…

Learning-based methods are promising to plan robot motion without performing extensive search, which is needed by many non-learning approaches. Recently, Value Iteration Networks (VINs) received much interest since---in contrast to standard…

In visuomotor policy learning, the control policy for the robotic agent is derived directly from visual inputs. The typical approach, where a policy and vision encoder are trained jointly from scratch, generalizes poorly to novel visual…

While traditional methods for instruction-following typically assume prior linguistic and perceptual knowledge, many recent works in reinforcement learning (RL) have proposed learning policies end-to-end, typically by training neural…

Zero-shot vision-and-language navigation (VLN) has gained significant attention due to its minimal data collection costs and inherent generalization. This paradigm is typically driven by the integration of pre-trained Vision-Language Models…

Vision-Language Encoders (VLEs) are widely adopted as the backbone of zero-shot referring image segmentation (RIS), enabling text-guided localization without task-specific training. However, prior works underexplored the underlying biases…