相关论文: Learning to Act with Affordance-Aware Multimodal N…

Embodied agents operating in human spaces must be able to master how their environment works: what objects can the agent use, and how can it use them? We introduce a reinforcement learning approach for exploration for interaction, whereby…

Lidar SLAM plays a significant role in mobile robot navigation and high-definition map construction. However, existing methods often face a trade-off between localization accuracy and system robustness in scenarios with a high proportion of…

We introduce One-shot Open Affordance Learning (OOAL), where a model is trained with just one example per base object category, but is expected to identify novel objects and affordances. While vision-language models excel at recognizing…

Enabling robots to understand the world in terms of objects is a critical building block towards higher level autonomy. The success of foundation models in vision has created the ability to segment and identify nearly all objects in the…

3D Object Affordance Grounding aims to predict the functional regions on a 3D object and has laid the foundation for a wide range of applications in robotics. Recent advances tackle this problem via learning a mapping between 3D regions and…

In this work, we introduce the concept of Active Representation Learning, a novel class of problems that intertwines exploration and representation learning within partially observable environments. We extend ideas from Active Simultaneous…

Long-horizon robotic manipulation remains challenging for reinforcement learning (RL) because sparse rewards provide limited guidance for credit assignment. Practical policy improvement thus relies on richer intermediate supervision, such…

When humans perform a task with an articulated object, they interact with the object only in a handful of ways, while the space of all possible interactions is nearly endless. This is because humans have prior knowledge about what…

In this paper, we present an efficient visual SLAM system designed to tackle both short-term and long-term illumination challenges. Our system adopts a hybrid approach that combines deep learning techniques for feature detection and…

We present an active mapping system that plans for both long-horizon exploration goals and short-term actions using a 3D Gaussian Splatting (3DGS) representation. Existing methods either do not take advantage of recent developments in…

Simultaneous localisation and mapping (SLAM) is the problem of autonomous robots to construct or update a map of an undetermined unstructured environment while simultaneously estimate the pose in it. The current trend towards self-driving…

Aiming to predict the complete shapes of partially occluded objects, amodal segmentation is an important step towards visual intelligence. With crucial significance, practical prior knowledge derives from sufficient training, while limited…

Affordance grounding requires identifying where and how an agent should interact in open-world scenes, where actionable regions are often small, occluded, reflective, and visually ambiguous. Recent systems therefore combine multiple skills…

Large Artificial Intelligence Models (LAMs) powered by massive datasets, extensive parameter scales, and extensive computational resources, leading to significant transformations across various industries. Yet, their practical deployment on…

Recently, learning algorithms motivated from sharpness of loss surface as an effective measure of generalization gap have shown state-of-the-art performances. Nevertheless, sharpness defined in a rigid region with a fixed radius, has a…

In addition to the core tasks of simultaneous localization and mapping (SLAM), active SLAM additionally in- volves generating robot actions that enable effective and efficient exploration of unknown environments. However, existing active…

SLAM is a fundamental component of modern autonomous systems, providing robots and their operators with a deeper understanding of their environment. SLAM systems often encounter challenges due to the dynamic nature of robotic motion,…

We propose a novel system for action sequence planning based on a combination of affordance recognition and a neural forward model predicting the effects of affordance execution. By performing affordance recognition on predicted futures, we…

We address the challenge of task-oriented navigation in unstructured and unknown environments, where robots must incrementally build and reason on rich, metric-semantic maps in real time. Since tasks may require clarification or…

In recent years, the demand for service robots capable of executing tasks beyond autonomous navigation has grown. In the future, service robots will be expected to perform complex tasks like 'Set table for dinner'. High-level tasks like…