相关论文: RARA: Zero-shot Sim2Real Visual Navigation with Fo…

Finding a path free from obstacles that poses minimal risk is critical for safe navigation. People who are sighted and people who are visually impaired require navigation safety while walking on a sidewalk. In this research we developed an…

Event cameras are gaining traction in traffic monitoring applications due to their low latency, high temporal resolution, and energy efficiency, which makes them well-suited for real-time object detection at traffic intersections. However,…

Reinforcement Learning (RL), among other learning-based methods, represents powerful tools to solve complex robotic tasks (e.g., actuation, manipulation, navigation, etc.), with the need for real-world data to train these systems as one of…

Safety and cost are two important concerns for the development of autonomous driving technologies. From the academic research to commercial applications of autonomous driving vehicles, sufficient simulation and real world testing are…

Off-road navigation is a challenging problem both at the planning level to get a smooth trajectory and at the control level to avoid flipping over, hitting obstacles, or getting stuck at a rough patch. There have been several recent works…

We present a novel problem setting in zero-shot learning, zero-shot object recognition and detection in the context. Contrary to the traditional zero-shot learning methods, which simply infers unseen categories by transferring knowledge…

Deep Reinforcement Learning has proved to be able to solve many control tasks in different fields, but the behavior of these systems is not always as expected when deployed in real-world scenarios. This is mainly due to the lack of domain…

Simulation can be a powerful tool for understanding machine learning systems and designing methods to solve real-world problems. Training and evaluating methods purely in simulation is often "doomed to succeed" at the desired task in a…

Methods for navigation based on large-scale learning typically treat each episode as a new problem, where the agent is spawned with a clean memory in an unknown environment. While these generalization capabilities to an unknown environment…

Visual navigation using only a single camera and a topological map has recently become an appealing alternative to methods that require additional sensors and 3D maps. This is typically achieved through an "image-relative" approach to…

Over the past few years, deep learning techniques have achieved tremendous success in many visual understanding tasks such as object detection, image segmentation, and caption generation. Despite this thriving in computer vision and natural…

We present Vision-based Navigation with Language-based Assistance (VNLA), a grounded vision-language task where an agent with visual perception is guided via language to find objects in photorealistic indoor environments. The task emulates…

Deploying reinforcement learning policies trained in simulation to real autonomous vehicles remains a fundamental challenge, particularly for VLM-guided RL frameworks whose policies are typically learned with simulator-native observations…

The ability to navigate from visual observations in unfamiliar environments is a core component of intelligent agents and an ongoing challenge for Deep Reinforcement Learning (RL). Street View can be a sensible testbed for such RL agents,…

Autonomous driving relies on a huge volume of real-world data to be labeled to high precision. Alternative solutions seek to exploit driving simulators that can generate large amounts of labeled data with a plethora of content variations.…

Navigating unfamiliar environments presents significant challenges for household robots, requiring the ability to recognize and reason about novel decoration and layout. Existing reinforcement learning methods cannot be directly transferred…

One powerful paradigm in visual navigation is to predict actions from observations directly. Training such an end-to-end system allows representations useful for downstream tasks to emerge automatically. However, the lack of inductive bias…

Fast and accurate physics simulation is an essential component of robot learning, where robots can explore failure scenarios that are difficult to produce in the real world and learn from unlimited on-policy data. Yet, it remains…

How much does having visual priors about the world (e.g. the fact that the world is 3D) assist in learning to perform downstream motor tasks (e.g. navigating a complex environment)? What are the consequences of not utilizing such visual…

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…