相关论文: Auxiliary Tasks Speed Up Learning PointGoal Naviga…

In this paper, we present a novel Bayesian online prediction algorithm for the problem setting of ad hoc teamwork under partial observability (ATPO), which enables on-the-fly collaboration with unknown teammates performing an unknown task…

While leveraging additional training data is well established to improve adversarial robustness, it incurs the unavoidable cost of data collection and the heavy computation to train models. To mitigate the costs, we propose Guided…

Navigation tasks in photorealistic 3D environments are challenging because they require perception and effective planning under partial observability. Recent work shows that map-like memory is useful for long-horizon navigation tasks.…

We present the Frontier Aware Search with backTracking (FAST) Navigator, a general framework for action decoding, that achieves state-of-the-art results on the Room-to-Room (R2R) Vision-and-Language navigation challenge of Anderson et. al.…

Depth completion and object detection are two crucial tasks often used for aerial 3D mapping, path planning, and collision avoidance of Uncrewed Aerial Vehicles (UAVs). Common solutions include using measurements from a LiDAR sensor;…

In this paper, we consider a transfer reinforcement learning problem involving agents with different action spaces. Specifically, for any new unseen task, the goal is to use a successful demonstration of this task by an expert agent in its…

Spannotation is an open source user-friendly tool developed for image annotation for semantic segmentation specifically in autonomous navigation tasks. This study provides an evaluation of Spannotation, demonstrating its effectiveness in…

Learning to navigate to an image-specified goal is an important but challenging task for autonomous systems. The agent is required to reason the goal location from where a picture is shot. Existing methods try to solve this problem by…

In this work, we present a memory-augmented approach for image-goal navigation. Earlier attempts, including RL-based and SLAM-based approaches have either shown poor generalization performance, or are heavily-reliant on pose/depth sensors.…

We present a target-driven navigation system to improve mapless visual navigation in indoor scenes. Our method takes a multi-view observation of a robot and a target as inputs at each time step to provide a sequence of actions that move the…

Predicting how the world can evolve in the future is crucial for motion planning in autonomous systems. Classical methods are limited because they rely on costly human annotations in the form of semantic class labels, bounding boxes, and…

In multi-agent navigation, agents need to move towards their goal locations while avoiding collisions with other agents and static obstacles, often without communication with each other. Existing methods compute motions that are optimal…

The prevailing paradigm for image-goal visual navigation often assumes access to large-scale datasets, substantial pretraining, and significant computational resources. In this work, we challenge this assumption. We show that we can collect…

Object Goal Navigation requires a robot to find and navigate to an instance of a target object class in a previously unseen environment. Our framework incrementally builds a semantic map of the environment over time, and then repeatedly…

Image-goal navigation is a challenging task that requires an agent to navigate to a goal indicated by an image in unfamiliar environments. Existing methods utilizing diverse scene memories suffer from inefficient exploration since they use…

We propose a simple but effective modular approach MOPA (Modular ObjectNav with PointGoal agents) to systematically investigate the inherent modularity of the object navigation task in Embodied AI. MOPA consists of four modules: (a) an…

Recent advances in deep reinforcement learning and scalable photorealistic simulation have led to increasingly mature embodied AI for various visual tasks, including navigation. However, while impressive progress has been made for teaching…

Object Navigation (ObjectNav) has made great progress with large language models (LLMs), but still faces challenges in memory management, especially in long-horizon tasks and dynamic scenes. To address this, we propose TopoNav, a new…

Graph neural networks have shown superior performance in a wide range of applications providing a powerful representation of graph-structured data. Recent works show that the representation can be further improved by auxiliary tasks.…

Object Goal Navigation (ObjectNav) refers to an agent navigating to an object in an unseen environment, which is an ability often required in the accomplishment of complex tasks. While existing methods demonstrate proficiency in isolated…