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

In this work, we propose a learning based neural model that provides both the longitudinal and lateral control commands to simultaneously navigate multiple vehicles. The goal is to ensure that each vehicle reaches a desired target state…

We study the task of embodied visual active learning, where an agent is set to explore a 3d environment with the goal to acquire visual scene understanding by actively selecting views for which to request annotation. While accurate on some…

Robots deployed to the real world must be able to interact with other agents in their environment. Dynamic game theory provides a powerful mathematical framework for modeling scenarios in which agents have individual objectives and…

Model-based reinforcement learning (RL) is appealing because (i) it enables planning and thus more strategic exploration, and (ii) by decoupling dynamics from rewards, it enables fast transfer to new reward functions. However, learning an…

Humans learn to recognize and manipulate new objects in lifelong settings without forgetting the previously gained knowledge under non-stationary and sequential conditions. In autonomous systems, the agents also need to mitigate similar…

Cooperative multi-agent reinforcement learning (MARL) for navigation enables agents to cooperate to achieve their navigation goals. Using emergent communication, agents learn a communication protocol to coordinate and share information that…

Deep reinforcement learning (RL) has been successfully applied to a variety of game-like environments. However, the application of deep RL to visual navigation with realistic environments is a challenging task. We propose a novel learning…

Autonomous robots require high degrees of cognitive and motoric intelligence to come into our everyday life. In non-structured environments and in the presence of uncertainties, such degrees of intelligence are not easy to obtain.…

Learning abstractions directly from data is a core challenge in robotics. Humans naturally operate at an abstract level, reasoning over high-level subgoals while delegating execution to low-level motor skills -- an ability that enables…

We present a target-driven navigation system to improve mapless visual navigation in indoor scenes. Our method takes a multi-view observation of a robot and a target as inputs at each time step to provide a sequence of actions that move the…

Navigation is an essential ability for mobile agents to be completely autonomous and able to perform complex actions. However, the problem of navigation for agents with limited (or no) perception of the world, or devoid of a fully defined…

This work studies object goal navigation task, which involves navigating to the closest object related to the given semantic category in unseen environments. Recent works have shown significant achievements both in the end-to-end…

Object goal navigation (ObjectNav) in unseen environments is a fundamental task for Embodied AI. Agents in existing works learn ObjectNav policies based on 2D maps, scene graphs, or image sequences. Considering this task happens in 3D…

Most of the works on planning and learning, e.g., planning by (model based) reinforcement learning, are based on two main assumptions: (i) the set of states of the planning domain is fixed; (ii) the mapping between the observations from the…

Learning the dynamics of robots from data can help achieve more accurate tracking controllers, or aid their navigation algorithms. However, when the actual dynamics of the robots change due to external conditions, on-line adaptation of…

Learning a diverse set of skills by interacting with an environment without any external supervision is an important challenge. In particular, obtaining a goal-conditioned agent that can reach any given state is useful in many applications.…

Parametric models abstract part of the specification of dynamical models by integral parameters. They are for example used in computational systems biology, notably with parametric regulatory networks, which specify the global architecture…

Real-world artificial intelligence (AI) systems are increasingly required to operate autonomously in dynamic, uncertain, and continuously changing environments. However, most existing AI models rely on predefined objectives, static training…

While adversarial neural networks have been shown successful for static image attacks, very few approaches have been developed for attacking online image streams while taking into account the underlying physical dynamics of autonomous…

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…