相关论文: Integrating Egocentric Localization for More Reali…

State-of-the-art navigation methods leverage a spatial memory to generalize to new environments, but their occupancy maps are limited to capturing the geometric structures directly observed by the agent. We propose occupancy anticipation,…

This work studies the problem of object goal navigation which involves navigating to an instance of the given object category in unseen environments. End-to-end learning-based navigation methods struggle at this task as they are ineffective…

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…

Navigating complex indoor environments requires a deep understanding of the space the robotic agent is acting into to correctly inform the navigation process of the agent towards the goal location. In recent learning-based navigation…

Object Goal Navigation (ObjectNav) task is to navigate an agent to an object category in unseen environments without a pre-built map. In this paper, we solve this task by predicting the distance to the target using semantically-related…

Embodied navigation methods commonly operate in static environments with stationary objects. In this work, we present approaches for tackling navigation in dynamic scenarios with non-stationary targets. In an indoor environment, we assume…

This work focuses on object goal visual navigation, aiming at finding the location of an object from a given class, where in each step the agent is provided with an egocentric RGB image of the scene. We propose to learn the agent's policy…

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…

Deep learning has revolutionized the ability to learn "end-to-end" autonomous vehicle control directly from raw sensory data. While there have been recent extensions to handle forms of navigation instruction, these works are unable to…

As robotics continues to advance, the need for adaptive and continuously-learning embodied agents increases, particularly in the realm of assistance robotics. Quick adaptability and long-term information retention are essential to operate…

Images are a convenient way to specify which particular object instance an embodied agent should navigate to. Solving this task requires semantic visual reasoning and exploration of unknown environments. We present a system that can perform…

Today's state of the art visual navigation agents typically consist of large deep learning models trained end to end. Such models offer little to no interpretability about the learned skills or the actions of the agent taken in response to…

Progress in Embodied AI has made it possible for end-to-end-trained agents to navigate in photo-realistic environments with high-level reasoning and zero-shot or language-conditioned behavior, but benchmarks are still dominated by…

Navigation is an essential ability for mobile agents to be completely autonomous and able to perform complex actions. However, the problem of navigation for agents with limited (or no) perception of the world, or devoid of a fully defined…

We develop a language-guided navigation task set in a continuous 3D environment where agents must execute low-level actions to follow natural language navigation directions. By being situated in continuous environments, this setting lifts a…

Navigating complex urban environments using natural language instructions poses significant challenges for embodied agents, including noisy language instructions, ambiguous spatial references, diverse landmarks, and dynamic street scenes.…

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,…

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…

What is a good visual representation for autonomous agents? We address this question in the context of semantic visual navigation, which is the problem of a robot finding its way through a complex environment to a target object, e.g. go to…

Can the intrinsic relation between an object and the room in which it is usually located help agents in the Visual Navigation Task? We study this question in the context of Object Navigation, a problem in which an agent has to reach an…