相关论文: Online Learning of Reusable Abstract Models for Ob…

We are concerned with the question of how an agent can acquire its own representations from sensory data. We restrict our focus to learning representations for long-term planning, a class of problems that state-of-the-art learning methods…

In this work, we present a memory-augmented approach for image-goal navigation. Earlier attempts, including RL-based and SLAM-based approaches have either shown poor generalization performance, or are heavily-reliant on pose/depth sensors.…

In the face of difficult exploration problems in reinforcement learning, we study whether giving an agent an object-centric mapping (describing a set of items and their attributes) allow for more efficient learning. We found this problem is…

Object goal navigation aims to navigate an agent to locations of a given object category in unseen environments. Classical methods explicitly build maps of environments and require extensive engineering while lacking semantic information…

This work focuses on object goal visual navigation, aiming at finding the location of an object from a given class, where in each step the agent is provided with an egocentric RGB image of the scene. We propose to learn the agent's policy…

If a robotic agent wants to exploit symbolic planning techniques to achieve some goal, it must be able to properly ground an abstract planning domain in the environment in which it operates. However, if the environment is initially unknown…

A long-standing challenge in Reinforcement Learning is enabling agents to learn a model of their environment which can be transferred to solve other problems in a world with the same underlying rules. One reason this is difficult is the…

Object Goal Navigation (ObjectNav) task is to navigate an agent to an object category in unseen environments without a pre-built map. In this paper, we solve this task by predicting the distance to the target using semantically-related…

We describe a robotic learning system for autonomous exploration and navigation in diverse, open-world environments. At the core of our method is a learned latent variable model of distances and actions, along with a non-parametric…

Learning world models offers a promising avenue for goal-conditioned reinforcement learning with sparse rewards. By allowing agents to plan actions or exploratory goals without direct interaction with the environment, world models enhance…

Visual perception and navigation have emerged as major focus areas in the field of embodied artificial intelligence. We consider the task of image-goal navigation, where an agent is tasked to navigate to a goal specified by an image,…

ObjectGoal Navigation (ObjectNav) is an embodied task wherein agents are to navigate to an object instance in an unseen environment. Prior works have shown that end-to-end ObjectNav agents that use vanilla visual and recurrent modules, e.g.…

Understanding and mapping a new environment are core abilities of any autonomously navigating agent. While classical robotics usually estimates maps in a stand-alone manner with SLAM variants, which maintain a topological or metric…

Learning continually and online from a continuous stream of data is challenging, especially for a reinforcement learning agent with sequential data. When the environment only provides observations giving partial information about the state…

Efficient ObjectGoal navigation (ObjectNav) in novel environments requires an understanding of the spatial and semantic regularities in environment layouts. In this work, we present a straightforward method for learning these regularities…

Object goal navigation (ObjectNav) is a fundamental task in embodied AI, requiring an agent to locate a target object in previously unseen environments. This task is particularly challenging because it requires both perceptual and cognitive…

Can the intrinsic relation between an object and the room in which it is usually located help agents in the Visual Navigation Task? We study this question in the context of Object Navigation, a problem in which an agent has to reach an…

State abstraction is an effective technique for planning in robotics environments with continuous states and actions, long task horizons, and sparse feedback. In object-oriented environments, predicates are a particularly useful form of…

We present a novel approach for fast and reliable policy selection for navigation in partial maps. Leveraging the recent learning-augmented model-based Learning over Subgoals Planning (LSP) abstraction to plan, our robot reuses data…

Autonomous agents embedded in a physical environment need the ability to recognize objects and their properties from sensory data. Such a perceptual ability is often implemented by supervised machine learning models, which are pre-trained…