相关论文: Learning to Set Waypoints for Audio-Visual Navigat…

If a robotic agent wants to exploit symbolic planning techniques to achieve some goal, it must be able to properly ground an abstract planning domain in the environment in which it operates. However, if the environment is initially unknown…

We are increasingly surrounded by artificially intelligent technology that takes decisions and executes actions on our behalf. This creates a pressing need for general means to communicate with, instruct and guide artificial agents, with…

Existing vision-and-language navigation (VLN) models primarily reason over past and current visual observations, while largely ignoring the future visual dynamics induced by actions. As a result, they often lack an effective understanding…

We introduce SoundSpaces 2.0, a platform for on-the-fly geometry-based audio rendering for 3D environments. Given a 3D mesh of a real-world environment, SoundSpaces can generate highly realistic acoustics for arbitrary sounds captured from…

In this paper, we investigate how to learn rich and robust feature representations for audio classification from visual data and acoustic images, a novel audio data modality. Former models learn audio representations from raw signals or…

Audio-visual learning, aimed at exploiting the relationship between audio and visual modalities, has drawn considerable attention since deep learning started to be used successfully. Researchers tend to leverage these two modalities either…

We present a unified model capable of simultaneously grounding both spoken language and non-speech sounds within a visual scene, addressing key limitations in current audio-visual grounding models. Existing approaches are typically limited…

Image-goal navigation steers an agent to a target location specified by an image in unseen environments. Existing methods primarily handle this task by learning an end-to-end navigation policy, which compares the similarities of target and…

An estimated 253 million people have visual impairments. These visual impairments affect everyday lives, and limit their understanding of the outside world. This can pose a risk to health from falling or collisions. We propose a solution to…

Due to the complexity of the natural world, a programmer cannot foresee all possible situations, a connected and autonomous vehicle (CAV) will face during its operation, and hence, CAVs will need to learn to make decisions autonomously. Due…

Numerous past works have tackled the problem of task-driven navigation. But, how to effectively explore a new environment to enable a variety of down-stream tasks has received much less attention. In this work, we study how agents can…

Model-free reinforcement learning has recently been shown to be effective at learning navigation policies from complex image input. However, these algorithms tend to require large amounts of interaction with the environment, which can be…

We have observed significant progress in visual navigation for embodied agents. A common assumption in studying visual navigation is that the environments are static; this is a limiting assumption. Intelligent navigation may involve…

This paper presents a reinforcement learning method for object goal navigation (ObjNav) where an agent navigates in 3D indoor environments to reach a target object based on long-term observations of objects and scenes. To this end, we…

When humans perform a task, such as playing a game, they selectively pay attention to certain parts of the visual input, gathering relevant information and sequentially combining it to build a representation from the sensory data. In this…

This paper introduces a new paradigm for sound source lo-calization referred to as virtual acoustic space traveling (VAST) and presents a first dataset designed for this purpose. Existing sound source localization methods are either based…

Navigating spatially varied and dynamic environments is one of the key tasks for autonomous agents. In this paper we present a novel method of navigating a mobile platform with one or multiple 3D-sonar sensors. Moving a mobile platform and…

Visual navigation models based on deep learning can learn effective policies when trained on large amounts of visual observations through reinforcement learning. Unfortunately, collecting the required experience in the real world requires…

Physically rearranging objects is an important capability for embodied agents. Visual room rearrangement evaluates an agent's ability to rearrange objects in a room to a desired goal based solely on visual input. We propose a simple yet…

We propose a new framework for extracting visual information about a scene only using audio signals. Audio-based methods can overcome some of the limitations of vision-based methods i.e., they do not require "line-of-sight", are robust to…