相关论文: Learning Composable Behavior Embeddings for Long-h…

For many real-world robotics applications, robots need to continually adapt and learn new concepts. Further, robots need to learn through limited data because of scarcity of labeled data in the real-world environments. To this end, my…

We present a robot navigation system that uses an imitation learning framework to successfully navigate in complex environments. Our framework takes a pre-built 3D scan of a real environment and trains an agent from pre-generated expert…

Recent Vision-and-Language Navigation (VLN) advancements are promising, but their idealized assumptions about robot movement and control fail to reflect physically embodied deployment challenges. To bridge this gap, we introduce VLN-PE, a…

Collision-free, goal-directed navigation in environments containing unknown static and dynamic obstacles is still a great challenge, especially when manual tuning of navigation policies or costly motion prediction needs to be avoided. In…

Learning discriminative image feature embeddings is of great importance to visual recognition. To achieve better feature embeddings, most current methods focus on designing different network structures or loss functions, and the estimated…

Human motion prediction is an essential component for enabling closer human-robot collaboration. The task of accurately predicting human motion is non-trivial. It is compounded by the variability of human motion, both at a skeletal level…

Devising intelligent agents able to live in an environment and learn by observing the surroundings is a longstanding goal of Artificial Intelligence. From a bare Machine Learning perspective, challenges arise when the agent is prevented…

Recent results suggest that splitting topological navigation into robot-independent and robot-specific components improves navigation performance by enabling the robot-independent part to be trained with data collected by robots of…

As robots increasingly integrate into everyday environments, ensuring their safe navigation around humans becomes imperative. Efficient and safe motion planning requires robots to account for human behavior, particularly in constrained…

Despite the progress in legged robotic locomotion, autonomous navigation in unknown environments remains an open problem. Ideally, the navigation system utilizes the full potential of the robots' locomotion capabilities while operating…

While classical approaches to autonomous robot navigation currently enable operation in certain environments, they break down in tightly constrained spaces, e.g., where the robot needs to engage in agile maneuvers to squeeze between…

This paper addresses navigation in crowded environments by integrating goal-conditioned generative models with Sampling-based Model Predictive Control (SMPC). We introduce goal-conditioned autoregressive models to generate crowd behaviors,…

Imitation learning is a promising approach for training autonomous vehicles (AV) to navigate complex traffic environments by mimicking expert driver behaviors. While existing imitation learning frameworks focus on leveraging expert…

Navigating mobile robots through environments shared with humans is challenging. From the perspective of the robot, humans are dynamic obstacles that must be avoided. These obstacles make the collision-free space nonconvex, which leads to…

We present a novel human-aware navigation approach, where the robot learns to mimic humans to navigate safely in crowds. The presented model, referred to as DeepMoTIon, is trained with pedestrian surveillance data to predict human velocity…

The current study examines how adequate coordination among different cognitive processes including visual recognition, attention switching, action preparation and generation can be developed via learning of robots by introducing a novel…

Most computational accounts of cognitive maps assume that stability is achieved primarily through sensory anchoring, with self-motion contributing to incremental positional updates only. However, biological spatial representations often…

Recent years in robotics and imitation learning have shown remarkable progress in training large-scale foundation models by leveraging data across a multitude of embodiments. The success of such policies might lead us to wonder: just how…

In this work, we introduce a novel deep learning architecture, Variable Length Embeddings (VLEs), an autoregressive model that can produce a latent representation composed of an arbitrary number of tokens. As a proof of concept, we…

Building intelligent autonomous systems at any scale is challenging. The sensing and computation constraints of a microrobot platform make the problems harder. We present improvements to learning-based methods for on-board learning of…