相关论文: TOMA: Topological Map Abstraction for Reinforcemen…

Topological data analysis (TDA) detects geometric structure in biological data. However, many TDA algorithms are memory intensive and impractical for massive datasets. Here, we introduce a statistical protocol that reduces TDA's memory…

Real-time autonomous systems utilize multi-layer computational frameworks to perform critical tasks such as perception, goal finding, and path planning. Traditional methods implement perception using occupancy grid mapping (OGM), segmenting…

Deep reinforcement learning (DRL) methods have recently shown promise in path planning tasks. However, when dealing with global planning tasks, these methods face serious challenges such as poor convergence and generalization. To this end,…

We present a framework for learning to guide geometric task and motion planning (GTAMP). GTAMP is a subclass of task and motion planning in which the goal is to move multiple objects to target regions among movable obstacles. A standard…

We consider how to directly extract a road map (also known as a topological representation) of an initially-unknown 2-dimensional environment via an online procedure that robustly computes a retraction of its boundaries. In this article, we…

Mobile robots require comprehensive scene understanding to operate effectively in diverse environments, enriched with contextual information such as layouts, objects, and their relationships. Although advances like neural radiation fields…

Robotic manipulation in complex, constrained spaces is vital for widespread applications but challenging, particularly when navigating narrow passages with elongated objects. Existing planning methods often fail in these low-clearance…

Visual robot navigation within large-scale, semi-structured environments deals with various challenges such as computation intensive path planning algorithms or insufficient knowledge about traversable spaces. Moreover, many…

Visual navigation takes inspiration from humans, who navigate in previously unseen environments using vision without detailed environment maps. Inspired by this, we introduce a novel no-RL, no-graph, no-odometry approach to visual…

Recent work on dialogue-based collaborative plan acquisition (CPA) has suggested that Theory of Mind (ToM) modelling can improve missing knowledge prediction in settings with asymmetric skill-sets and knowledge. Although ToM was claimed to…

In environments with sparse or delayed rewards, reinforcement learning (RL) incurs high sample complexity due to the large number of interactions needed for learning. This limitation has motivated the use of large language models (LLMs) for…

The ability to autonomously navigate in unknown environments is important for mobile robots. The map is the core component to achieve this. Most map representations rely on drift-free state estimation and provide a global metric map to…

Feature space is an environment where data points are vectorized to represent the original dataset. Reconstructing a good feature space is essential to augment the AI power of data, improve model generalization, and increase the…

Visual Teach-and-Repeat Navigation is a direct solution for mobile robot to be deployed in unknown environments. However, robust trajectory repeat navigation still remains challenged due to environmental changing and dynamic objects. In…

We propose a robotic learning system for autonomous exploration and navigation in unexplored environments. We are motivated by the idea that even an unseen environment may be familiar from previous experiences in similar environments. The…

Continual learning on graphs tackles the problem of training a graph neural network (GNN) where graph data arrive in a streaming fashion and the model tends to forget knowledge from previous tasks when updating with new data. Traditional…

Adapting to unforeseen novelties in open-world environments remains a major challenge for autonomous systems. While hybrid planning and reinforcement learning (RL) approaches show promise, they often suffer from sample inefficiency, slow…

Animal navigation research posits that organisms build and maintain internal spatial representations, or maps, of their environment. We ask if machines -- specifically, artificial intelligence (AI) navigation agents -- also build implicit…

Graph of Thoughts (GoT), a generalized form of recent prompting paradigms for large language models (LLMs), has been shown to be useful for elaborate problem solving. By executing a graph of operations, thoughts of the LLM are structured as…

How can we design neural networks that allow for stable universal approximation of maps between topologically interesting manifolds? The answer is with a coordinate projection. Neural networks based on topological data analysis (TDA) use…