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

We propose to take a novel approach to robot system design where each building block of a larger system is represented as a differentiable program, i.e. a deep neural network. This representation allows for integrating algorithmic planning…

In this paper, we introduce a novel method to capture visual trajectories for navigating an indoor robot in dynamic settings using streaming image data. First, an image processing pipeline is proposed to accurately segment trajectories from…

"Embodied visual navigation" problem requires an agent to navigate in a 3D environment mainly rely on its first-person observation. This problem has attracted rising attention in recent years due to its wide application in autonomous…

Real-world autonomous missions often require rich interaction with nearby objects, such as doors or switches, along with effective navigation. However, such complex behaviors are difficult to learn because they involve both high-level…

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…

Visual navigation tasks in real-world environments often require both self-motion and place recognition feedback. While deep reinforcement learning has shown success in solving these perception and decision-making problems in an end-to-end…

Accomplishing household tasks requires to plan step-by-step actions considering the consequences of previous actions. However, the state-of-the-art embodied agents often make mistakes in navigating the environment and interacting with…

This paper addresses the challenge of active perception within autonomous navigation in complex, unknown environments. Revisiting the foundational principles of active perception, we introduce an end-to-end reinforcement learning framework…

Learning high-performance control policies that remain consistent with expert behavior is a fundamental challenge in robotics. Reinforcement learning can discover high-performing strategies but often departs from desirable human behavior,…

In this paper, we propose a novel Deep Reinforcement Learning approach to address the mapless navigation problem, in which the locomotion actions of a humanoid robot are taken online based on the knowledge encoded in learned models.…

We present a novel concept for teach-and-repeat visual navigation. The proposed concept is based on a mathematical model, which indicates that in teach-and-repeat navigation scenarios, mobile robots do not need to perform explicit…

In order to engage in complex social interaction, humans learn at a young age to infer what others see and cannot see from a different point-of-view, and learn to predict others' plans and behaviors. These abilities have been mostly lacking…

We introduce associative embedding, a novel method for supervising convolutional neural networks for the task of detection and grouping. A number of computer vision problems can be framed in this manner including multi-person pose…

This paper addresses the challenge of fine-grained alignment in Vision-and-Language Navigation (VLN) tasks, where robots navigate realistic 3D environments based on natural language instructions. Current approaches use contrastive learning…

We introduce Behavior from Language and Demonstration (BLADE), a framework for long-horizon robotic manipulation by integrating imitation learning and model-based planning. BLADE leverages language-annotated demonstrations, extracts…

Deep learning architectures such as convolutional neural networks are the standard in computer vision for image processing tasks. Their accuracy however often comes at the cost of long and computationally expensive training, the need for…

In this work, we present a learning-based pipeline to realise local navigation with a quadrupedal robot in cluttered environments with static and dynamic obstacles. Given high-level navigation commands, the robot is able to safely locomote…

Mobile robotics is a research area that has witnessed incredible advances for the last decades. Robot navigation is an essential task for mobile robots. Many methods are proposed for allowing robots to navigate within different…

We focus on contrastive methods for self-supervised video representation learning. A common paradigm in contrastive learning is to construct positive pairs by sampling different data views for the same instance, with different data…

We introduce Hybrid Bayesian Eigenobjects (HBEOs), a novel representation for 3D objects designed to allow a robot to jointly estimate the pose, class, and full 3D geometry of a novel object observed from a single viewpoint in a single…