相关论文: Symmetry-aware Neural Architecture for Embodied Vi…

In this paper, we consider the problem of building learning agents that can efficiently learn to navigate in constrained environments. The main goal is to design agents that can efficiently learn to understand and generalize to different…

Audio-Visual Embodied Navigation aims to enable agents to autonomously navigate to sound sources in unknown 3D environments using auditory cues. While current AVN methods excel on in-distribution sound sources, they exhibit poor…

Vision-language navigation (VLN) is the task of navigating an embodied agent to carry out natural language instructions inside real 3D environments. In this paper, we study how to address three critical challenges for this task: the…

Deep Reinforcement Learning (DRL) algorithms for continuous action spaces are known to be brittle toward hyperparameters as well as \cut{being}sample inefficient. Soft Actor Critic (SAC) proposes an off-policy deep actor critic algorithm…

Visual SLAM (Simultaneous Localization and Mapping) methods typically rely on handcrafted visual features or raw RGB values for establishing correspondences between images. These features, while suitable for sparse mapping, often lead to…

Exploiting internal spatial geometric constraints of sparse LiDARs is beneficial to depth completion, however, has been not explored well. This paper proposes an efficient method to learn geometry-aware embedding, which encodes the local…

This article proposes a novel approach for augmenting generative adversarial network (GAN) with a self-supervised task in order to improve its ability for encoding video representations that are useful in downstream tasks such as human…

The emergence of mobile robotics, particularly in the automotive industry, introduces a promising era of enriched user experiences and adept handling of complex navigation challenges. The realization of these advancements necessitates a…

Edward C. Tolman found reinforcement learning unsatisfactory for explaining intelligence and proposed a clear distinction between learning and behavior. Tolman's ideas on latent learning and cognitive maps eventually led to what is now…

Robots navigating indoor environments often have access to architectural plans, which can serve as prior knowledge to enhance their localization and mapping capabilities. While some SLAM algorithms leverage these plans for global…

We humans can impeccably search for a target object, given its name only, even in an unseen environment. We argue that this ability is largely due to three main reasons: the incorporation of prior knowledge (or experience), the adaptation…

Deep learning models have proven enormously successful at using multiple layers of representation to learn relevant features of structured data. Encoding physical symmetries into these models can improve performance on difficult tasks, and…

Multi-agent reinforcement learning has emerged as a powerful framework for enabling agents to learn complex, coordinated behaviors but faces persistent challenges regarding its generalization, scalability and sample efficiency. Recent…

We present a novel Simultaneous Localization and Mapping (SLAM) method that employs Gaussian Process (GP) based landmark (object) representations. Instead of conventional grid maps or point cloud registration, we model the environment on a…

Identification and analysis of symmetrical patterns in the natural world have led to significant discoveries across various scientific fields, such as the formulation of gravitational laws in physics and advancements in the study of…

Active Simultaneous Localisation and Mapping (SLAM) is a critical problem in autonomous robotics, enabling robots to navigate to new regions while building an accurate model of their surroundings. Visual SLAM is a popular technique that…

Vision-and-Language Navigation (VLN) is a task where agents must decide how to move through a 3D environment to reach a goal by grounding natural language instructions to the visual surroundings. One of the problems of the VLN task is data…

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…

A common architectural choice for deep metric learning is a convolutional neural network followed by global average pooling (GAP). Albeit simple, GAP is a highly effective way to aggregate information. One possible explanation for the…

What is a good visual representation for autonomous agents? We address this question in the context of semantic visual navigation, which is the problem of a robot finding its way through a complex environment to a target object, e.g. go to…