相关论文: Optimistic Agent: Accurate Graph-Based Value Estim…

In this work, we propose and explore Deep Graph Value Network (DeepGV) as a promising method to work around sample complexity in deep reinforcement-learning agents using a message-passing mechanism. The main idea is that the agent should be…

In this paper, we consider the problem of building learning agents that can efficiently learn to navigate in constrained environments. The main goal is to design agents that can efficiently learn to understand and generalize to different…

Semantic navigation requires an agent to navigate toward a specified target in an unseen environment. Employing an imaginative navigation strategy that predicts future scenes before taking action, can empower the agent to find target…

The ability to navigate like a human towards a language-guided target from anywhere in a 3D embodied environment is one of the 'holy grail' goals of intelligent robots. Most visual navigation benchmarks, however, focus on navigating toward…

Embodied agents equipped with GPT as their brains have exhibited extraordinary decision-making and generalization abilities across various tasks. However, existing zero-shot agents for vision-and-language navigation (VLN) only prompt GPT-4…

In visual semantic navigation, the robot navigates to a target object with egocentric visual observations and the class label of the target is given. It is a meaningful task inspiring a surge of relevant research. However, most of the…

The ability to perform effective planning is crucial for building an instruction-following agent. When navigating through a new environment, an agent is challenged with (1) connecting the natural language instructions with its progressively…

This paper addresses the challenge of multi-agent path planning for efficient data collection in dynamic, uncertain environments, exemplified by autonomous underwater vehicles (AUVs) navigating the Gulf of Mexico. Traditional greedy…

Designing versatile graph learning approaches is important, considering the diverse graphs and tasks existing in real-world applications. Existing methods have attempted to achieve this target through automated machine learning techniques,…

We propose a new method for improving zero-shot ObjectNav that aims to utilize potentially available environmental percepts for navigational assistance. Our approach takes into account that the ground agent may have limited and sometimes…

ObjectGoal Navigation (ObjectNav) is an embodied task wherein agents are to navigate to an object instance in an unseen environment. Prior works have shown that end-to-end ObjectNav agents that use vanilla visual and recurrent modules, e.g.…

In this article, we propose a novel navigation framework that leverages a two layered graph representation of the environment for efficient large-scale exploration, while it integrates a novel uncertainty awareness scheme to handle dynamic…

We present a novel trajectory traversability estimation and planning algorithm for robot navigation in complex outdoor environments. We incorporate multimodal sensory inputs from an RGB camera, 3D LiDAR, and the robot's odometry sensor to…

Consider an agent exploring an unknown graph in search of some goal state. As it walks around the graph, it learns the nodes and their neighbors. The agent only knows where the goal state is when it reaches it. How do we reach this goal…

Vision-and-Language Navigation in Continuous Environments (VLN-CE) is a navigation task that requires an agent to follow a language instruction in a realistic environment. The understanding of environments is a crucial part of the VLN-CE…

Endowing robots with human-like physical reasoning abilities remains challenging. We argue that existing methods often disregard spatio-temporal relations and by using Graph Neural Networks (GNNs) that incorporate a relational inductive…

Conflict-Based Search is one of the most popular methods for multi-agent path finding. Though it is complete and optimal, it does not scale well. Recent works have been proposed to accelerate it by introducing various heuristics. However,…

Retrieval-Augmented Generation (RAG) mitigates hallucination in LLMs by incorporating external knowledge, but relies on chunk-based retrieval that lacks structural semantics. GraphRAG methods improve RAG by modeling knowledge as…

Predicting future locations of agents in the scene is an important problem in self-driving. In recent years, there has been a significant progress in representing the scene and the agents in it. The interactions of agents with the scene and…

Parse graphs boost human pose estimation (HPE) by integrating context and hierarchies, yet prior work mostly focuses on single modality modeling, ignoring the potential of multimodal fusion. Notably, language offers rich HPE priors like…