相关论文: Learning to Explore using Active Neural SLAM

Neural networks are effective function approximators, but hard to train in the reinforcement learning (RL) context mainly because samples are correlated. For years, scholars have got around this by employing experience replay or an…

The real-world deployment of fully autonomous mobile robots depends on a robust SLAM (Simultaneous Localization and Mapping) system, capable of handling dynamic environments, where objects are moving in front of the robot, and changing…

AI policy sets boundaries on acceptable behavior for AI models, but this is challenging in the context of large language models (LLMs): how do you ensure coverage over a vast behavior space? We introduce policy maps, an approach to AI…

We propose a new active learning approach for efficiently estimating the geographic range of a species from a limited number of on the ground observations. We model the range of an unmapped species of interest as the weighted combination of…

Visual navigation by mobile robots is classically tackled through SLAM plus optimal planning, and more recently through end-to-end training of policies implemented as deep networks. While the former are often limited to waypoint planning,…

Exploration is critical to a reinforcement learning agent's performance in its given environment. Prior exploration methods are often based on using heuristic auxiliary predictions to guide policy behavior, lacking a mathematically-grounded…

Reinforcement learning (RL) algorithms have become indispensable tools in artificial intelligence, empowering agents to acquire optimal decision-making policies through interactions with their environment and feedback mechanisms. This study…

In an effort to increase the capabilities of SLAM systems and produce object-level representations, the community increasingly investigates the imposition of higher-level priors into the estimation process. One such example is given by…

We develop an approach for active semantic perception which refers to using the semantics of the scene for tasks such as exploration. We build a compact, hierarchical multi-layer scene graph that can represent large, complex indoor…

This paper presents a novel hierarchical alignment model (HAM) that learns multi-granularity visual and linguistic representations in an end-to-end manner. We extract key points and proposal points to model 3D contexts and instances, and…

This paper addresses the challenge of active perception within autonomous navigation in complex, unknown environments. Revisiting the foundational principles of active perception, we introduce an end-to-end reinforcement learning framework…

SLAM (Simultaneous Localisation and Mapping) is a crucial component for robotic systems, providing a map of an environment, the current location and previous trajectory of a robot. While 3D LiDAR SLAM has received notable improvements in…

Simultaneous Localization and Mapping (SLAM) plays a crucial role in enabling autonomous vehicles to navigate previously unknown environments. Semantic SLAM mostly extends visual SLAM, leveraging the higher density information available to…

Simultaneous Localisation and Mapping (SLAM) is one of the fundamental problems in autonomous mobile robots where a robot needs to reconstruct a previously unseen environment while simultaneously localising itself with respect to the map.…

In this paper we propose a method that learns to play Pac-Man. We define a set of high-level observation and action modules. Actions are temporally extended, and multiple action modules may be in effect concurrently. A decision of the agent…

Object Goal Navigation-requiring an agent to locate a specific object in an unseen environment-remains a core challenge in embodied AI. Although recent progress in Vision-Language Model (VLM)-based agents has demonstrated promising…

In order to successfully perform tasks specified by natural language instructions, an artificial agent operating in a visual world needs to map words, concepts, and actions from the instruction to visual elements in its environment. This…

We propose a hierarchical reinforcement learning (HRL) framework for efficient Navigation Among Movable Obstacles (NAMO) using a mobile manipulator. Our approach combines interaction-based obstacle property estimation with structured…

In this paper, we explore how we can build upon the data and models of Internet images and use them to adapt to robot vision without requiring any extra labels. We present a framework called Self-supervised Embodied Active Learning (SEAL).…

Semantic mapping is the task of providing a robot with a map of its environment beyond the open, navigable space of traditional Simultaneous Localization and Mapping (SLAM) algorithms by attaching semantics to locations. The system…