相关论文: Learning to Explore using Active Neural SLAM

We study the problem of learning a generalizable action policy for an intelligent agent to actively approach an object of interest in an indoor environment solely from its visual inputs. While scene-driven or recognition-driven visual…

We consider task and motion planning in complex dynamic environments for problems expressed in terms of a set of Linear Temporal Logic (LTL) constraints, and a reward function. We propose a methodology based on reinforcement learning that…

Goal-Conditioned Reinforcement Learning (GCRL) provides a versatile framework for developing unified controllers capable of handling wide ranges of tasks, exploring environments, and adapting behaviors. However, its reliance on…

The paper proposes a reliable and robust planning solution to the long range robotic navigation problem in extremely cluttered environments. A two-layer planning architecture is proposed that leverages both the environment map and the…

On-policy reinforcement learning (RL) algorithms have demonstrated great potential in robotic control, where effective exploration is crucial for efficient and high-quality policy learning. However, how to encourage the agent to explore the…

We address the problem of active mapping with a continually-learned neural scene representation, namely Active Neural Mapping. The key lies in actively finding the target space to be explored with efficient agent movement, thus minimizing…

Navigation has been classically solved in robotics through the combination of SLAM and planning. More recently, beyond waypoint planning, problems involving significant components of (visual) high-level reasoning have been explored in…

This paper presents a comprehensive overview of exploration strategies utilized in both 2D and 3D environments, focusing on autonomous multi-robot systems designed for building exploration and fire detection. We explore the limitations of…

We consider the problem of time-limited robotic exploration in previously unseen environments where exploration is limited by a predefined amount of time. We propose a novel exploration approach using learning-augmented model-based…

Deep learning based localization and mapping approaches have recently emerged as a new research direction and receive significant attentions from both industry and academia. Instead of creating hand-designed algorithms based on physical…

Navigating outdoor environments with visual Simultaneous Localization and Mapping (SLAM) systems poses significant challenges due to dynamic scenes, lighting variations, and seasonal changes, requiring robust solutions. While traditional…

This paper explores human behavior in virtual networked communities, specifically individuals or groups' potential and expressive capacity to respond to internal and external stimuli, with assortative matching as a typical example. A…

Semantic navigation is necessary to deploy mobile robots in uncontrolled environments like our homes, schools, and hospitals. Many learning-based approaches have been proposed in response to the lack of semantic understanding of the…

Deep reinforcement learning (DRL) has achieved significant breakthroughs in various tasks. However, most DRL algorithms suffer a problem of generalizing the learned policy which makes the learning performance largely affected even by minor…

Navigating fluently around pedestrians is a necessary capability for mobile robots deployed in human environments, such as buildings and homes. While research on social navigation has focused mainly on the scalability with the number of…

Visual navigation is essential for many applications in robotics, from manipulation, through mobile robotics to automated driving. Deep reinforcement learning (DRL) provides an elegant map-free approach integrating image processing,…

Generating collision-free motion in dynamic, partially observable environments is a fundamental challenge for robotic manipulators. Classical motion planners can compute globally optimal trajectories but require full environment knowledge…

Model-based control is a popular paradigm for robot navigation because it can leverage a known dynamics model to efficiently plan robust robot trajectories. However, it is challenging to use model-based methods in settings where the…

Active Learning has proved to be a relevant approach to perform sample selection for training models for Autonomous Driving. Particularly, previous works on active learning for 3D object detection have shown that selection of samples in…

We present a novel approach for image-goal navigation, where an agent navigates with a goal image rather than accurate target information, which is more challenging. Our goal is to decouple the learning of navigation goal planning,…