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

We present GraPLUS (Graph-based Placement Using Semantics), a novel framework for plausible object placement in images that leverages scene graphs and large language models. Our approach uniquely combines graph-structured scene…

Deploying autonomous agents in real world environments is challenging, particularly for navigation, where systems must adapt to situations they have not encountered before. Traditional learning approaches require substantial amounts of…

Large language models (LLMs) achieve strong results on knowledge graph question answering (KGQA), but most benchmarks assume complete knowledge graphs (KGs) where direct supporting triples exist. This reduces evaluation to shallow retrieval…

Reinforcement learning (RL) -- algorithms that teach artificial agents to interact with environments by maximising reward signals -- has achieved significant success in recent years. These successes have been facilitated by advances in…

Humans can robustly follow a visual trajectory defined by a sequence of images (i.e. a video) regardless of substantial changes in the environment or the presence of obstacles. We aim at endowing similar visual navigation capabilities to…

Visual navigation using only a single camera and a topological map has recently become an appealing alternative to methods that require additional sensors and 3D maps. This is typically achieved through an "image-relative" approach to…

Motion prediction for automated vehicles in complex environments is a difficult task that is to be mastered when automated vehicles are to be used in arbitrary situations. Many factors influence the future motion of traffic participants…

This paper presents a novel approach to multi-robot collision avoidance that integrates global path planning with local navigation strategies, utilizing attentive graph neural networks to manage dynamic interactions among agents. We…

Accurate and effective 3D object detection is critical for ensuring the driving safety of autonomous vehicles. Recently, state-of-the-art two-stage 3D object detectors have exhibited promising performance. However, these methods refine…

For automated driving, predicting the future trajectories of other road users in complex traffic situations is a hard problem. Modern neural networks use the past trajectories of traffic participants as well as map data to gather hints…

We propose Graph2Nav, a real-time 3D object-relation graph generation framework, for autonomous navigation in the real world. Our framework fully generates and exploits both 3D objects and a rich set of semantic relationships among objects…

Understanding human behavior in urban environments is a crucial field within city sciences. However, collecting accurate behavioral data, particularly in newly developed areas, poses significant challenges. Recent advances in generative…

Visual navigation is a fundamental problem in embodied AI, yet practical deployments demand long-horizon planning capabilities to address multi-objective tasks. A major bottleneck is data scarcity: policies learned from limited data often…

In many real-world applications involving static environments, the spatial layout of objects remains consistent across instances. However, state-of-the-art object detection models often fail to leverage this spatial prior, resulting in…

Learning-based methods have become increasingly popular for solving vehicle routing problems due to their near-optimal performance and fast inference speed. Among them, the combination of deep reinforcement learning and graph representation…

Model-based next state prediction and state value prediction are slow to converge. To address these challenges, we do the following: i) Instead of a neural network, we do model-based planning using a parallel memory retrieval system (which…

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…

Recently, graph-based planning algorithms have gained much attention to solve goal-conditioned reinforcement learning (RL) tasks: they provide a sequence of subgoals to reach the target-goal, and the agents learn to execute…

Playing text-based games requires skills in processing natural language and sequential decision making. Achieving human-level performance on text-based games remains an open challenge, and prior research has largely relied on hand-crafted…

Visual-Inertial Odometry (VIO) is a critical component for robust ego-motion estimation, enabling foundational capabilities such as autonomous navigation in robotics and real-time 6-DoF tracking for augmented reality. Existing methods face…