相关论文: Deep Visual Navigation under Partial Observability

Equipping active colloidal robots with intelligence such that they can efficiently navigate in unknown complex environments could dramatically impact their use in emerging applications like precision surgery and targeted drug delivery. Here…

How can a delivery robot navigate reliably to a destination in a new office building, with minimal prior information? To tackle this challenge, this paper introduces a two-level hierarchical approach, which integrates model-free deep…

Robotic navigation in environments shared with other robots or humans remains challenging because the intentions of the surrounding agents are not directly observable and the environment conditions are continuously changing. Local…

In recent years, learning-based approaches have demonstrated significant promise in addressing intricate navigation tasks. Traditional methods for training deep neural network navigation policies rely on meticulously designed reward…

A real-time Deep Learning based method for Pedestrian Detection (PD) is applied to the Human-Aware robot navigation problem. The pedestrian detector combines the Aggregate Channel Features (ACF) detector with a deep Convolutional Neural…

This paper presents a vision-based modularized drone racing navigation system that uses a customized convolutional neural network (CNN) for the perception module to produce high-level navigation commands and then leverages a…

Unstructured environments are difficult for autonomous driving. This is because various unknown obstacles are lied in drivable space without lanes, and its width and curvature change widely. In such complex environments, searching for a…

We present DeepNav, a Convolutional Neural Network (CNN) based algorithm for navigating large cities using locally visible street-view images. The DeepNav agent learns to reach its destination quickly by making the correct navigation…

Efficient navigation in dynamic environments is crucial for autonomous robots interacting with moving agents and static obstacles. We present a novel deep reinforcement learning approach that improves robot navigation and interaction with…

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approach for enabling autonomous robots to navigate in environments where pre-existing maps may be inaccurate, outdated, or unavailable.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…

Traversing 3-D complex environments has always been a significant challenge for legged locomotion. Existing methods typically rely on external sensors such as vision and lidar to preemptively react to obstacles by acquiring environmental…

Socially aware navigation is a fast-evolving research area in robotics that enables robots to move within human environments while adhering to the implicit human social norms. The advent of Deep Reinforcement Learning (DRL) has accelerated…

Autonomous navigation in partially observable environments requires agents to reason beyond immediate sensor input, exploit occlusion, and ensure safety while progressing toward a goal. These challenges arise in many robotics domains, from…

Camera-equipped unmanned vehicles (UVs) have received a lot of attention in data collection for construction monitoring applications. To develop an autonomous platform, the UV should be able to process multiple modules (e.g.,…

Learning to navigate in complex environments with dynamic elements is an important milestone in developing AI agents. In this work we formulate the navigation question as a reinforcement learning problem and show that data efficiency and…

We present a target-driven navigation system to improve mapless visual navigation in indoor scenes. Our method takes a multi-view observation of a robot and a target as inputs at each time step to provide a sequence of actions that move the…

Neuromorphic vision, inspired by biological neural systems, has recently gained significant attention for its potential in enhancing robotic autonomy. This paper presents a systematic exploration of a proposed Neuromorphic Navigation…

Traditional indoor robot navigation methods provide a reliable solution when adapted to constrained scenarios, but lack flexibility or require manual re-tuning when deployed in more complex settings. In contrast, learning-based approaches…

We exploit the complementary strengths of vision and proprioception to develop a point-goal navigation system for legged robots, called VP-Nav. Legged systems are capable of traversing more complex terrain than wheeled robots, but to fully…

Autonomous robots must navigate reliably in unknown environments even under compromised exteroceptive perception, or perception failures. Such failures often occur when harsh environments lead to degraded sensing, or when the perception…