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

We propose a learning-based navigation system for reaching visually indicated goals and demonstrate this system on a real mobile robot platform. Learning provides an appealing alternative to conventional methods for robotic navigation:…

Visual topological navigation has been revitalized recently thanks to the advancement of deep learning that substantially improves robot perception. However, the scalability and reliability issue remain challenging due to the complexity and…

Lifelong embodied navigation requires agents to accumulate, retain, and exploit spatial-semantic experience across tasks, enabling efficient exploration in novel environments and rapid goal reaching in familiar ones. While object-centric…

Humans can robustly follow a visual trajectory defined by a sequence of images (i.e. a video) regardless of substantial changes in the environment or the presence of obstacles. We aim at endowing similar visual navigation capabilities to…

This work proposes a novel hybrid approach for vision-only navigation of mobile robots, which combines advances of both deep learning approaches and classical model-based planning algorithms. Today, purely data-driven end-to-end models are…

Service robots are increasingly deployed in diverse and dynamic environments, where both physical layouts and social contexts change over time and across locations. In these unstructured settings, conventional navigation systems that rely…

Reliable dynamic object detection in cluttered environments remains a critical challenge for autonomous navigation. Purely geometric LiDAR pipelines that rely on clustering and heuristic filtering can miss dynamic obstacles when they move…

Embodied AI models often employ off the shelf vision backbones like CLIP to encode their visual observations. Although such general purpose representations encode rich syntactic and semantic information about the scene, much of this…

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…

Learning-based autonomous driving requires continuous integration of diverse knowledge in complex traffic , yet existing methods exhibit significant limitations in adaptive capabilities. Addressing this gap demands autonomous driving…

Generative model-based motion prediction techniques have recently realized predicting controlled human motions, such as predicting multiple upper human body motions with similar lower-body motions. However, to achieve this, the…

Human navigation is facilitated through the association of actions with landmarks, tapping into our ability to recognize salient features in our environment. Consequently, navigational instructions for humans can be extremely concise, such…

Deep reinforcement learning (RL) has been successfully applied to a variety of game-like environments. However, the application of deep RL to visual navigation with realistic environments is a challenging task. We propose a novel learning…

We present a scalable framework for cross-embodiment humanoid robot control by learning a shared latent representation that unifies motion across humans and diverse humanoid platforms, including single-arm, dual-arm, and legged humanoid…

We present a novel method for constructing Variational Autoencoder (VAE). Instead of using pixel-by-pixel loss, we enforce deep feature consistency between the input and the output of a VAE, which ensures the VAE's output to preserve the…

Because of the rich dynamical structure of videos and their ubiquity in everyday life, it is a natural idea that video data could serve as a powerful unsupervised learning signal for training visual representations in deep neural networks.…

In this paper, we learn visual features that we use to first build a map and then localize a robot driving autonomously across a full day of lighting change, including in the dark. We train a neural network to predict sparse keypoints with…

For the best human-robot interaction experience, the robot's navigation policy should take into account personal preferences of the user. In this paper, we present a learning framework complemented by a perception pipeline to train a depth…

Navigating through unstructured environments is a basic capability of intelligent creatures, and thus is of fundamental interest in the study and development of artificial intelligence. Long-range navigation is a complex cognitive task that…

The robustness of visual navigation policies trained through imitation often hinges on the augmentation of the training image-action pairs. Traditionally, this has been done by collecting data from multiple cameras, by using standard data…