相关论文: Learning Continuous Environment Fields via Implici…

Representations are internal models of the environment that can provide guidance to a behaving agent, even in the absence of sensory information. It is not clear how representations are developed and whether or not they are necessary or…

Predicting where people can walk in a scene is important for many tasks, including autonomous driving systems and human behavior analysis. Yet learning a computational model for this purpose is challenging due to semantic ambiguity and a…

We introduce Neural Point Light Fields that represent scenes implicitly with a light field living on a sparse point cloud. Combining differentiable volume rendering with learned implicit density representations has made it possible to…

Recent implicit neural rendering methods have demonstrated that it is possible to learn accurate view synthesis for complex scenes by predicting their volumetric density and color supervised solely by a set of RGB images. However, existing…

Safe and efficient robot operation in complex human environments can benefit from good models of site-specific motion patterns. Maps of Dynamics (MoDs) provide such models by encoding statistical motion patterns in a map, but existing…

In crowded urban environments where traffic is dense, current technologies struggle to oversee tight navigation, but surface-level understanding allows autonomous vehicles to safely assess proximity to surrounding obstacles. 3D or 2D scene…

We propose a robotic learning system for autonomous exploration and navigation in unexplored environments. We are motivated by the idea that even an unseen environment may be familiar from previous experiences in similar environments. The…

A self-driving vehicle (SDV) must be able to perceive its surroundings and predict the future behavior of other traffic participants. Existing works either perform object detection followed by trajectory forecasting of the detected objects,…

Referring to objects in a natural and unambiguous manner is crucial for effective human-robot interaction. Previous research on learning-based referring expressions has focused primarily on comprehension tasks, while generating referring…

Inferring 3D human motion is fundamental in many applications, including understanding human activity and analyzing one's intention. While many fruitful efforts have been made to human motion prediction, most approaches focus on pose-driven…

Modeling and rendering of dynamic scenes is challenging, as natural scenes often contain complex phenomena such as thin structures, evolving topology, translucency, scattering, occlusion, and biological motion. Mesh-based reconstruction and…

Temporal prediction is critical for making intelligent and robust decisions in complex dynamic environments. Motion prediction needs to model the inherently uncertain future which often contains multiple potential outcomes, due to…

We present a deep generative scene modeling technique for indoor environments. Our goal is to train a generative model using a feed-forward neural network that maps a prior distribution (e.g., a normal distribution) to the distribution of…

Devising intelligent agents able to live in an environment and learn by observing the surroundings is a longstanding goal of Artificial Intelligence. From a bare Machine Learning perspective, challenges arise when the agent is prevented…

Neural implicit functions have demonstrated significant importance in various areas such as computer vision, graphics. Their advantages include the ability to represent complex shapes and scenes with high fidelity, smooth interpolation…

Intrinsically motivated goal exploration algorithms enable machines to discover repertoires of policies that produce a diversity of effects in complex environments. These exploration algorithms have been shown to allow real world robots to…

This paper presents a novel Learning from Demonstration (LfD) method that uses neural fields to learn new skills efficiently and accurately. It achieves this by utilizing a shared embedding to learn both scene and motion representations in…

Driving scene understanding is to obtain comprehensive scene information through the sensor data and provide a basis for downstream tasks, which is indispensable for the safety of self-driving vehicles. Specific perception tasks, such as…

Effective modeling of human interactions is of utmost importance when forecasting behaviors such as future trajectories. Each individual, with its motion, influences surrounding agents since everyone obeys to social non-written rules such…

To reduce the computational cost of humanoid motion generation, we introduce a new approach to representing robot kinematic reachability: the differentiable reachability map. This map is a scalar-valued function defined in the task space…