相关论文: Optimistic Agent: Accurate Graph-Based Value Estim…
Graphs can be used to represent and reason about systems and a variety of metrics have been devised to quantify their global characteristics. However, little is currently known about how to construct a graph or improve an existing one given…
We present a relational graph learning approach for robotic crowd navigation using model-based deep reinforcement learning that plans actions by looking into the future. Our approach reasons about the relations between all agents based on…
Temporal link prediction in dynamic graphs is a critical task with applications in diverse domains such as social networks, recommendation systems, and e-commerce platforms. While existing Temporal Graph Neural Networks (T-GNNs) have…
Path-based relational reasoning over knowledge graphs has become increasingly popular due to a variety of downstream applications such as question answering in dialogue systems, fact prediction, and recommender systems. In recent years,…
In this work, we present a memory-augmented approach for image-goal navigation. Earlier attempts, including RL-based and SLAM-based approaches have either shown poor generalization performance, or are heavily-reliant on pose/depth sensors.…
When humans perform everyday tasks, we naturally adjust our actions based on the current state of the environment. For instance, if we intend to put something into a drawer but notice it is closed, we open it first. However, many autonomous…
In graph-structured multi-agent reinforcement learning (MARL) adversarial tasks such as pursuit and confrontation, agents must coordinate under highly dynamic interactions, where sparse rewards hinder efficient policy learning. We propose…
In recent years, developing AI for robotics has raised much attention. The interaction of vision and language of robots is particularly difficult. We consider that giving robots an understanding of visual semantics and language semantics…
Robust obstacle avoidance is one of the critical steps for successful goal-driven indoor navigation tasks.Due to the obstacle missing in the visual image and the possible missed detection issue, visual image-based obstacle avoidance…
Graph Neural Networks (GNNs) have achieved remarkable success in graph-based learning by propagating information among neighbor nodes via predefined aggregation mechanisms. However, such fixed schemes often suffer from two key limitations.…
Autonomous exploration of cluttered environments requires efficient exploration strategies that guarantee safety against potential collisions with unknown random obstacles. This paper presents a novel approach combining a graph neural…
We address the problem of recognizing situations in images. Given an image, the task is to predict the most salient verb (action), and fill its semantic roles such as who is performing the action, what is the source and target of the…
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…
The aim of path planning is to reach the goal from starting point by searching for the route of an agent. In the path planning, the routes may vary depending on the number of variables such that it is important for the agent to reach…
Traditional vehicle routing systems efficiently optimize singular metrics like time or distance, and when considering multiple metrics, they need more processes to optimize . However, they lack the capability to interpret and integrate the…
Traffic scenarios are inherently interactive. Multiple decision-makers predict the actions of others and choose strategies that maximize their rewards. We view these interactions from the perspective of game theory which introduces various…
Recent research in language-guided visual navigation has demonstrated a significant demand for the diversity of traversable environments and the quantity of supervision for training generalizable agents. To tackle the common data scarcity…
For an autonomous agent to fulfill a wide range of user-specified goals at test time, it must be able to learn broadly applicable and general-purpose skill repertoires. Furthermore, to provide the requisite level of generality, these skills…
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…
The image geolocalization task aims to predict the location where an image was taken anywhere on Earth using visual clues. Existing large vision-language model (LVLM) approaches leverage world knowledge, chain-of-thought reasoning, and…