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

Embodied visual tracking is to follow a target object in dynamic 3D environments using an agent's egocentric vision. This is a vital and challenging skill for embodied agents. However, existing methods suffer from inefficient training and…

A fundamental task in robotics is to navigate between two locations. In particular, real-world navigation can require long-horizon planning using high-dimensional RGB images, which poses a substantial challenge for end-to-end learning-based…

Vision-and-Language Navigation (VLN) requires an embodied agent to ground complex natural-language instructions into long-horizon navigation in unseen environments. While Vision-Language Models (VLMs) offer strong 2D semantic understanding,…

Learning to navigate in a visual environment following natural-language instructions is a challenging task, because the multimodal inputs to the agent are highly variable, and the training data on a new task is often limited. In this paper,…

Active visual exploration aims to assist an agent with a limited field of view to understand its environment based on partial observations made by choosing the best viewing directions in the scene. Recent methods have tried to address this…

Active Visual Exploration (AVE) is a task that involves dynamically selecting observations (glimpses), which is critical to facilitate comprehension and navigation within an environment. While modern AVE methods have demonstrated impressive…

Embodied navigation requires robots to understand and interact with the environment based on given tasks. Vision-Language Navigation (VLN) is an embodied navigation task, where a robot navigates within a previously seen and unseen…

Vision-and-language navigation (VLN) is a key task in Embodied AI, requiring agents to navigate diverse and unseen environments while following natural language instructions. Traditional approaches rely heavily on historical observations as…

We consider an active visual exploration scenario, where an agent must intelligently select its camera motions to efficiently reconstruct the full environment from only a limited set of narrow field-of-view glimpses. While the agent has…

The success of Generative Adversarial Networks (GANs) is largely built upon the adversarial training between a generator (G) and a discriminator (D). They are expected to reach a certain equilibrium where D cannot distinguish the generated…

Real-world deployment of Vision-and-Language Navigation (VLN) agents is constrained by the scarcity of reliable supervision after offline training. While recent adaptation methods attempt to mitigate distribution shifts via…

Deep reinforcement learning has made significant progress in the field of continuous control, such as physical control and autonomous driving. However, it is challenging for a reinforcement model to learn a policy for each task sequentially…

Visual place recognition is the task of recognizing same places of query images in a set of database images, despite potential condition changes due to time of day, weather or seasons. It is important for loop closure detection in SLAM and…

Learning how to navigate among humans in an occluded and spatially constrained indoor environment, is a key ability required to embodied agent to be integrated into our society. In this paper, we propose an end-to-end architecture that…

Multi-Agent Reinforcement Learning (MARL) struggles with sample inefficiency and poor generalization [1]. These challenges are partially due to a lack of structure or inductive bias in the neural networks typically used in learning the…

Unlike loose coupling approaches and the EKF-based approaches in the literature, we propose an optimization-based visual-inertial SLAM tightly coupled with raw Global Navigation Satellite System (GNSS) measurements, a first attempt of this…

Embodied agents, trained to explore and navigate indoor photorealistic environments, have achieved impressive results on standard datasets and benchmarks. So far, experiments and evaluations have involved domestic and working scenes like…

Visual navigation in complex environments is inefficient with traditional reactive policy or general-purposed recurrent policy. To address the long-term memory issue, this paper proposes a graph attention memory (GAM) architecture…

Vision-based localization for autonomous driving has been of great interest among researchers. When a pre-built 3D map is not available, the techniques of visual simultaneous localization and mapping (SLAM) are typically adopted. Due to…

By recursively summing node features over entire neighborhoods, spatial graph convolution operators have been heralded as key to the success of Graph Neural Networks (GNNs). Yet, despite the multiplication of GNN methods across tasks and…