相关论文: Learning to Explore using Active Neural SLAM

We consider an active visual exploration scenario, where an agent must intelligently select its camera motions to efficiently reconstruct the full environment from only a limited set of narrow field-of-view glimpses. While the agent has…

Recent advances in parallel computing and GPU acceleration have created new opportunities for computation-intensive learning problems such as Active SLAM -- where actions are selected to reduce uncertainty and improve joint mapping and…

Neural rendering algorithms introduce a fundamentally new approach for photorealistic rendering, typically by learning a neural representation of illumination on large numbers of ground truth images. When training for a given variable…

Long-horizon planning in realistic environments requires the ability to reason over sequential tasks in high-dimensional state spaces with complex dynamics. Classical motion planning algorithms, such as rapidly-exploring random trees, are…

This paper presents a novel approach for the Vision-and-Language Navigation (VLN) task in continuous 3D environments, which requires an autonomous agent to follow natural language instructions in unseen environments. Existing end-to-end…

Active learning aims to select a small subset of data for annotation such that a classifier learned on the data is highly accurate. This is usually done using heuristic selection methods, however the effectiveness of such methods is limited…

End-to-end autonomous driving models based on Vision-Language-Action (VLA) architectures have shown promising results by learning driving policies through behavior cloning on expert demonstrations. However, imitation learning inherently…

This paper proposes a method for learning continuous control policies for active landmark localization and exploration using an information-theoretic cost. We consider a mobile robot detecting landmarks within a limited sensing range, and…

We present a map-less path planning algorithm based on Deep Reinforcement Learning (DRL) for mobile robots navigating in unknown environment that only relies on 40-dimensional raw laser data and odometry information. The planner is trained…

Autonomous agents embedded in a physical environment need the ability to recognize objects and their properties from sensory data. Such a perceptual ability is often implemented by supervised machine learning models, which are pre-trained…

Active learning identifies data points to label that are expected to be the most useful in improving a supervised model. Opportunistic active learning incorporates active learning into interactive tasks that constrain possible queries…

Visual understanding of 3D environments in real-time, at low power, is a huge computational challenge. Often referred to as SLAM (Simultaneous Localisation and Mapping), it is central to applications spanning domestic and industrial…

Learning to navigate in complex environments with dynamic elements is an important milestone in developing AI agents. In this work we formulate the navigation question as a reinforcement learning problem and show that data efficiency and…

We study lifelong visual perception in an embodied setup, where we develop new models and compare various agents that navigate in buildings and occasionally request annotations which, in turn, are used to refine their visual perception…

This paper considers the problem of efficient exploration of unseen environments, a key challenge in AI. We propose a `learning to explore' framework where we learn a policy from a distribution of environments. At test time, presented with…

In this article we present a utility function for Active SLAM (A-SLAM) which utilizes map entropy along with D-Optimality criterion metrices for weighting goal frontier candidates. We propose a utility function for frontier goal selection…

In addition to the core tasks of simultaneous localization and mapping (SLAM), active SLAM additionally in- volves generating robot actions that enable effective and efficient exploration of unknown environments. However, existing active…

Embodied agents operating in human spaces must be able to master how their environment works: what objects can the agent use, and how can it use them? We introduce a reinforcement learning approach for exploration for interaction, whereby…

We proposed an end-to-end deep learning-based simultaneous localization and mapping (SLAM) system following conventional visual odometry (VO) pipelines. The proposed method completes the SLAM framework by including tracking, mapping, and…

Recently, numerous algorithms have been developed to tackle the problem of vision-language navigation (VLN), i.e., entailing an agent to navigate 3D environments through following linguistic instructions. However, current VLN agents simply…