相关论文: Learning Continuous Environment Fields via Implici…

The interpretation of spatial references is highly contextual, requiring joint inference over both language and the environment. We consider the task of spatial reasoning in a simulated environment, where an agent can act and receive…

We present a novel method for populating 3D indoor scenes with virtual humans that can navigate in the environment and interact with objects in a realistic manner. Existing approaches rely on training sequences that contain captured human…

Humans have a strong intuitive understanding of the 3D environment around us. The mental model of the physics in our brain applies to objects of different materials and enables us to perform a wide range of manipulation tasks that are far…

We propose an approach to learning agents for active robotic mapping, where the goal is to map the environment as quickly as possible. The agent learns to map efficiently in simulated environments by receiving rewards corresponding to how…

Globally localizing a mobile robot in a known map is often a foundation for enabling robots to navigate and operate autonomously. In indoor environments, traditional Monte Carlo localization based on occupancy grid maps is considered the…

This paper proposes a technique for efficiently modeling dynamic humans by explicifying the implicit neural fields via a Neural Explicit Surface (NES). Implicit neural fields have advantages over traditional explicit representations in…

The objective of this paper is to learn dense 3D shape correspondence for topology-varying generic objects in an unsupervised manner. Conventional implicit functions estimate the occupancy of a 3D point given a shape latent code. Instead,…

Human learning and intelligence work differently from the supervised pattern recognition approach adopted in most deep learning architectures. Humans seem to learn rich representations by exploration and imitation, build causal models of…

Scene representation is a crucial design choice in robotic manipulation systems. An ideal representation is expected to be 3D, dynamic, and semantic to meet the demands of diverse manipulation tasks. However, previous works often lack all…

Determining the state of a mobile robot is an essential building block of robot navigation systems. In this paper, we address the problem of estimating the robots pose in an indoor environment using 2D LiDAR data and investigate how modern…

Humans navigate in their environment by learning a mental model of the world through passive observation and active interaction. Their world model allows them to anticipate what might happen next and act accordingly with respect to an…

Animal vision is thought to optimize various objectives from metabolic efficiency to discrimination performance, yet its ultimate objective is to facilitate the survival of the animal within its ecological niche. However, modeling animal…

When working around other agents such as humans, it is important to model their perception capabilities to predict and make sense of their behavior. In this work, we consider agents whose perception capabilities are determined by their…

One major goal of vision is to infer physical models of objects, surfaces, and their layout from sensors. In this paper, we aim to interpret indoor scenes from one RGBD image. Our representation encodes the layout of walls, which must…

Low-cost autonomous agents including autonomous driving vehicles chiefly adopt monocular 3D object detection to perceive surrounding environment. This paper studies 3D intermediate representation methods which generate intermediate 3D…

To reach human performance on complex tasks, a key ability for artificial systems is to understand physical interactions between objects, and predict future outcomes of a situation. This ability, often referred to as intuitive physics, has…

We address multi-modal trajectory forecasting of agents in unknown scenes by formulating it as a planning problem. We present an approach consisting of three models; a goal prediction model to identify potential goals of the agent, an…

We propose Occupancy Flow Fields, a new representation for motion forecasting of multiple agents, an important task in autonomous driving. Our representation is a spatio-temporal grid with each grid cell containing both the probability of…

This paper presents a preliminary conceptual investigation into an environment representation that has constant space complexity with respect to the camera image space. This type of representation allows the planning algorithms of a mobile…

Infants are experts at playing, with an amazing ability to generate novel structured behaviors in unstructured environments that lack clear extrinsic reward signals. We seek to mathematically formalize these abilities using a neural network…