相关论文: POMP++: Pomcp-based Active Visual Search in unknow…

We study the problem of learning a generalizable action policy for an intelligent agent to actively approach an object of interest in an indoor environment solely from its visual inputs. While scene-driven or recognition-driven visual…

This paper addresses the challenge of offline policy learning in reinforcement learning with continuous action spaces when unmeasured confounders are present. While most existing research focuses on policy evaluation within partially…

This study presents a new methodology for learning-based motion planning for autonomous exploration using aerial robots. Through the reinforcement learning method of learning through trial and error, the action policy is derived that can…

Simultaneous localization and Planning (SLAP) is a crucial ability for an autonomous robot operating under uncertainty. In its most general form, SLAP induces a continuous POMDP (partially-observable Markov decision process), which needs to…

It is common to implicitly assume access to intelligently captured inputs (e.g., photos from a human photographer), yet autonomously capturing good observations is itself a major challenge. We address the problem of learning to look around:…

We present a novel POMDP problem formulation for a robot that must autonomously decide where to go to collect new and scientifically relevant images given a limited ability to communicate with its human operator. From this formulation we…

Mapless navigation has emerged as a promising approach for enabling autonomous robots to navigate in environments where pre-existing maps may be inaccurate, outdated, or unavailable. In this work, we propose an image-based local…

The ability to plan informative paths online is essential to robot autonomy. In particular, sampling-based approaches are often used as they are capable of using arbitrary information gain formulations. However, they are prone to local…

Autonomous object search is challenging for mobile robots operating in indoor environments due to partial observability, perceptual uncertainty, and the need to trade off exploration and navigation efficiency. Classical probabilistic…

Autonomous Vehicles (AVs) need an accurate and up-to-date representation of the environment for safe navigation. Traditional methods, which often rely on detailed environmental representations constructed offline, struggle in dynamically…

We introduce a neural architecture for navigation in novel environments. Our proposed architecture learns to map from first-person views and plans a sequence of actions towards goals in the environment. The Cognitive Mapper and Planner…

Actively planning sensor views during object reconstruction is crucial for autonomous mobile robots. An effective method should be able to strike a balance between accuracy and efficiency. In this paper, we propose a seamless integration of…

Humans use spatial language to naturally describe object locations and their relations. Interpreting spatial language not only adds a perceptual modality for robots, but also reduces the barrier of interfacing with humans. Previous work…

Next-Best View (NBV) planning is a long-standing problem of determining where to obtain the next best view of an object from, by a robot that is viewing the object. There are a number of methods for choosing NBV based on the observed part…

Reinforcement learning in partially observable domains is challenging due to the lack of observable state information. Thankfully, learning offline in a simulator with such state information is often possible. In particular, we propose a…

We propose a novel approach to robot-operated active understanding of unknown indoor scenes, based on online RGBD reconstruction with semantic segmentation. In our method, the exploratory robot scanning is both driven by and targeting at…

Reinforcement learning (RL) algorithms are designed to optimize problem-solving by learning actions that maximize rewards, a task that becomes particularly challenging in random and nonstationary environments. Even advanced RL algorithms…

Solving Partially Observable Markov Decision Processes (POMDPs) with continuous actions is challenging, particularly for high-dimensional action spaces. To alleviate this difficulty, we propose a new sampling-based online POMDP solver,…

A major difficulty of solving continuous POMDPs is to infer the multi-modal distribution of the unobserved true states and to make the planning algorithm dependent on the perceived uncertainty. We cast POMDP filtering and planning problems…

We present the evaluation methodology, datasets and results of the BOP Challenge 2024, the 6th in a series of public competitions organized to capture the state of the art in 6D object pose estimation and related tasks. In 2024, our goal…