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

Visual planning simulates how humans make decisions to achieve desired goals in the form of searching for visual causal transitions between an initial visual state and a final visual goal state. It has become increasingly important in…

Learning visuomotor policies for agile quadrotor flight presents significant difficulties, primarily from inefficient policy exploration caused by high-dimensional visual inputs and the need for precise and low-latency control. To address…

The prevailing paradigm for image-goal visual navigation often assumes access to large-scale datasets, substantial pretraining, and significant computational resources. In this work, we challenge this assumption. We show that we can collect…

This work presents a case study of a learning-based approach for target driven map-less navigation. The underlying navigation model is an end-to-end neural network which is trained using a combination of expert demonstrations, imitation…

Advances in the field of inverse reinforcement learning (IRL) have led to sophisticated inference frameworks that relax the original modeling assumption of observing an agent behavior that reflects only a single intention. Instead of…

Embodied artificial intelligence (AI) tasks shift from tasks focusing on internet images to active settings involving embodied agents that perceive and act within 3D environments. In this paper, we investigate the target-driven visual…

Understanding spatial and visual information is essential for a navigation agent who follows natural language instructions. The current Transformer-based VLN agents entangle the orientation and vision information, which limits the gain from…

Safe reinforcement learning is a promising path toward applying reinforcement learning algorithms to real-world problems, where suboptimal behaviors may lead to actual negative consequences. In this work, we focus on the setting where…

While generative robot policies have demonstrated significant potential in learning complex, multimodal behaviors from demonstrations, they still exhibit diverse failures at deployment-time. Policy steering offers an elegant solution to…

Object-Goal Navigation (ObjectNav) is a critical component toward deploying mobile robots in everyday, uncontrolled environments such as homes, schools, and workplaces. In this context, a robot must locate target objects in previously…

Goal-conditioned planning benefits from learned low-dimensional representations of rich observations. While compact latent representations typically learned from variational autoencoders or inverse dynamics enable goal-conditioned decision…

Reinforcement learning (RL) is an effective approach to learn an optimal dialog policy for task-oriented visual dialog systems. A common practice is to apply RL on a neural sequence-to-sequence (seq2seq) framework with the action space…

Visual imitation learning enables robotic agents to acquire skills by observing expert demonstration videos. In the one-shot setting, the agent generates a policy after observing a single expert demonstration without additional fine-tuning.…

The ability to plan into the future while utilizing only raw high-dimensional observations, such as images, can provide autonomous agents with broad capabilities. Visual model-based reinforcement learning (RL) methods that plan future…

Object goal navigation (ObjectNav) is a fundamental task in embodied AI, requiring an agent to locate a target object in previously unseen environments. This task is particularly challenging because it requires both perceptual and cognitive…

Imitation learning (IL) has achieved considerable success in solving complex sequential decision-making problems. However, current IL methods mainly assume that the environment for learning policies is the same as the environment for…

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,…

Learning to navigate in a visual environment following natural language instructions is a challenging task because natural language instructions are highly variable, ambiguous, and under-specified. In this paper, we present a novel training…

Reinforcement learning is a widely used approach to autonomous navigation, showing potential in various tasks and robotic setups. Still, it often struggles to reach distant goals when safety constraints are imposed (e.g., the wheeled robot…

The main challenge in learning image-conditioned robotic policies is acquiring a visual representation conducive to low-level control. Due to the high dimensionality of the image space, learning a good visual representation requires a…