相关论文: Learning for Visual Navigation by Imagining the Su…

The emerging vision-and-language navigation (VLN) problem aims at learning to navigate an agent to the target location in unseen photo-realistic environments according to the given language instruction. The main challenges of VLN arise…

As deep learning continues to make progress for challenging perception tasks, there is increased interest in combining vision, language, and decision-making. Specifically, the Vision and Language Navigation (VLN) task involves navigating to…

Visual navigation is a fundamental capability for autonomous home-assistance robots, enabling long-horizon tasks such as object search. While recent methods have leveraged Large Language Models (LLMs) to incorporate commonsense reasoning…

We explore the use of language as a perceptual representation for vision-and-language navigation (VLN), with a focus on low-data settings. Our approach uses off-the-shelf vision systems for image captioning and object detection to convert…

In the Vision-and-Language Navigation task, the embodied agent follows linguistic instructions and navigates to a specific goal. It is important in many practical scenarios and has attracted extensive attention from both computer vision and…

Reinforcement Learning (RL)-based control system has received considerable attention in recent decades. However, in many real-world problems, such as Batch Process Control, the environment is uncertain, which requires expensive interaction…

Current reinforcement learning (RL) algorithms can be brittle and difficult to use, especially when learning goal-reaching behaviors from sparse rewards. Although supervised imitation learning provides a simple and stable alternative, it…

Training visual reinforcement learning agents in a high-dimensional open world presents significant challenges. While various model-based methods have improved sample efficiency by learning interactive world models, these agents tend to be…

Reinforcement Learning (RL) algorithms typically require millions of environment interactions to learn successful policies in sparse reward settings. Hindsight Experience Replay (HER) was introduced as a technique to increase sample…

Model-based next state prediction and state value prediction are slow to converge. To address these challenges, we do the following: i) Instead of a neural network, we do model-based planning using a parallel memory retrieval system (which…

In an unfamiliar setting, a model-based reinforcement learning agent can be limited by the accuracy of its world model. In this work, we present a novel, training-free approach to improving the performance of such agents separately from…

Learned world models summarize an agent's experience to facilitate learning complex behaviors. While learning world models from high-dimensional sensory inputs is becoming feasible through deep learning, there are many potential ways for…

A visually-grounded navigation instruction can be interpreted as a sequence of expected observations and actions an agent following the correct trajectory would encounter and perform. Based on this intuition, we formulate the problem of…

Two less addressed issues of deep reinforcement learning are (1) lack of generalization capability to new target goals, and (2) data inefficiency i.e., the model requires several (and often costly) episodes of trial and error to converge,…

In this work, we present a memory-augmented approach for image-goal navigation. Earlier attempts, including RL-based and SLAM-based approaches have either shown poor generalization performance, or are heavily-reliant on pose/depth sensors.…

Vision-Language Navigation requires agents to act coherently over long horizons by understanding not only local visual context but also how far they have advanced within a multi-step instruction. However, recent Vision-Language-Action…

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…

Most recent work in goal oriented visual navigation resorts to large-scale machine learning in simulated environments. The main challenge lies in learning compact representations generalizable to unseen environments and in learning…

We study zero-shot instance navigation, in which the agent navigates to a specific object without using object annotations for training. Previous object navigation approaches apply the image-goal navigation (ImageNav) task (go to the…

Humans navigate unfamiliar environments using episodic simulation and episodic memory, which facilitate a deeper understanding of the complex relationships between environments and objects. Developing an imaginative memory system inspired…