相关论文: EgoMap: Projective mapping and structured egocentr…

Although large language models (LLMs) have advanced rapidly, robust automation of complex software workflows remains an open problem. In long-horizon settings, agents frequently suffer from cascading errors and environmental stochasticity;…

Intelligent embodied agents (e.g. robots) need to perform complex semantic tasks in unfamiliar environments. Among many skills that the agents need to possess, building and maintaining a semantic map of the environment is most crucial in…

Manually specifying features that capture the diversity in traffic environments is impractical. Consequently, learning-based agents cannot realize their full potential as neural motion planners for autonomous vehicles. Instead, this work…

Humans can rearrange objects in cluttered environments using egocentric perception, navigating occlusions without global coordinates. Inspired by this capability, we study long-horizon multi-object non-prehensile rearrangement for mobile…

Cognitive maps provide a powerful framework for understanding spatial and abstract reasoning in biological and artificial agents. While recent computational models link cognitive maps to hippocampal-entorhinal mechanisms, they often rely on…

Implicit representations are widely used for object reconstruction due to their efficiency and flexibility. In 2021, a novel structure named neural implicit map has been invented for incremental reconstruction. A neural implicit map…

This study presents an Exploratory Retrieval-Augmented Planning (ExRAP) framework, designed to tackle continual instruction following tasks of embodied agents in dynamic, non-stationary environments. The framework enhances Large Language…

We present a new method to localize a camera within a previously unseen environment perceived from an egocentric point of view. Although this is, in general, an ill-posed problem, humans can effortlessly and efficiently determine their…

We integrate two powerful ideas, geometry and deep visual representation learning, into recurrent network architectures for mobile visual scene understanding. The proposed networks learn to "lift" and integrate 2D visual features over time…

Transformers have increasingly outperformed gated RNNs in obtaining new state-of-the-art results on supervised tasks involving text sequences. Inspired by this trend, we study the question of how Transformer-based models can improve the…

This paper introduces a structured, adaptive-length deep representation called Neural Eigenmap. Unlike prior spectral methods such as Laplacian Eigenmap that operate in a nonparametric manner, Neural Eigenmap leverages NeuralEF to…

We propose an approach to learning agents for active robotic mapping, where the goal is to map the environment as quickly as possible. The agent learns to map efficiently in simulated environments by receiving rewards corresponding to how…

The problem of autonomous indoor mapping is addressed. The goal is to minimize the time to achieve a predefined percentage of exposure with some desired level of certainty. The use of a pre-trained generative deep neural network, acting as…

Autonomous agent frameworks still struggle to reconcile long-term experiential learning with real-time, context-sensitive decision-making. In practice, this gap appears as static cognition, rigid workflow dependence, and inefficient context…

We present an embodied robotic system with an LLM-driven agent-orchestration architecture for autonomous household object management. The system integrates memory-augmented task planning, enabling robots to execute high-level user commands…

Egocentric assistants often rely on first-person view data to capture user behavior and context for personalized services. Since different users exhibit distinct habits, preferences, and routines, such personalization is essential for truly…

Can conversational videos captured from multiple egocentric viewpoints reveal the map of a scene in a cost-efficient way? We seek to answer this question by proposing a new problem: efficiently building the map of a previously unseen 3D…

Inspired by the cognitive science theory of the explicit human memory systems, we have modeled an agent with short-term, episodic, and semantic memory systems, each of which is modeled with a knowledge graph. To evaluate this system and…

Planning the trajectory of the controlled ego vehicle is a key challenge in automated driving. As for human drivers, predicting the motions of surrounding vehicles is important to plan the own actions. Recent motion prediction methods…

Structured scene representations are a core component of embodied agents, helping to consolidate raw sensory streams into readable, modular, and searchable formats. Due to their high computational overhead, many approaches build such…