相关论文: No RL, No Simulation: Learning to Navigate without…

We tackle the problem of cooperative visual exploration where multiple agents need to jointly explore unseen regions as fast as possible based on visual signals. Classical planning-based methods often suffer from expensive computation…

Visual navigation tasks in real-world environments often require both self-motion and place recognition feedback. While deep reinforcement learning has shown success in solving these perception and decision-making problems in an end-to-end…

There has been an increasing interest in 3D indoor navigation, where a robot in an environment moves to a target according to an instruction. To deploy a robot for navigation in the physical world, lots of training data is required to learn…

Reinforcement Learning (RL) has shown remarkable progress in simulation environments, yet its application to real-world robotic tasks remains limited due to challenges in exploration and generalization. To address these issues, we introduce…

The ability to autonomously learn behaviors via direct interactions in uninstrumented environments can lead to generalist robots capable of enhancing productivity or providing care in unstructured settings like homes. Such uninstrumented…

Recent work has described neural-network-based agents that are trained with reinforcement learning (RL) to execute language-like commands in simulated worlds, as a step towards an intelligent agent or robot that can be instructed by human…

Solving complex problems using reinforcement learning necessitates breaking down the problem into manageable tasks and learning policies to solve these tasks. These policies, in turn, have to be controlled by a master policy that takes…

Understanding and following natural language instructions while navigating through complex, real-world environments poses a significant challenge for general-purpose robots. These environments often include obstacles and pedestrians, making…

Consistently testing autonomous mobile robots in real world scenarios is a necessary aspect of developing autonomous navigation systems. Each time the human safety monitor disengages the robot's autonomy system due to the robot performing…

Using Reinforcement Learning (RL) in simulation to construct policies useful in real life is challenging. This is often attributed to the sequential decision making aspect: inaccuracies in simulation accumulate over multiple steps, hence…

Navigating urban environments represents a complex task for automated vehicles. They must reach their goal safely and efficiently while considering a multitude of traffic participants. We propose a modular decision making algorithm to…

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…

We present NavACL, a method of automatic curriculum learning tailored to the navigation task. NavACL is simple to train and efficiently selects relevant tasks using geometric features. In our experiments, deep reinforcement learning agents…

Safety is critical to broadening the application of reinforcement learning (RL). Often, we train RL agents in a controlled environment, such as a laboratory, before deploying them in the real world. However, the real-world target task might…

A robot navigating an outdoor environment with no prior knowledge of the space must rely on its local sensing to perceive its surroundings and plan. This can come in the form of a local metric map or local policy with some fixed horizon.…

Humans are remarkable in their ability to navigate without metric information. We can read abstract 2D maps, such as floor-plans or hand-drawn sketches, and use them to navigate in unseen rich 3D environments, without requiring prior…

The aim of this work is to develop an approach that enables Unmanned Aerial System (UAS) to efficiently learn to navigate in large-scale urban environments and transfer their acquired expertise to novel environments. To achieve this, we…

We investigate the use of animal videos (observations) to improve Reinforcement Learning (RL) efficiency and performance in navigation tasks with sparse rewards. Motivated by theoretical considerations, we make use of weighted policy…

Vision-and-Language Navigation (VLN) is a task where an agent navigates in an embodied indoor environment under human instructions. Previous works ignore the distribution of sample difficulty and we argue that this potentially degrade their…

For robotic vehicles to navigate robustly and safely in unseen environments, it is crucial to decide the most suitable navigation policy. However, most existing deep reinforcement learning based navigation policies are trained with a…