相关论文: Early Recall, Late Precision: Multi-Robot Semantic…

An embodied task such as embodied question answering (EmbodiedQA), requires an agent to explore the environment and collect clues to answer a given question that related with specific objects in the scene. The solution of such task usually…

Object Referring-guided Scanpath Prediction (ORSP) aims to predict the human attention scanpath when they search for a specific target object in a visual scene according to a linguistic description describing the object. Multimodal…

Mainstream autonomous exploration methods usually perform excessively-repeated explorations for the same region, leading to long exploration time and exploration trajectory in complex scenes. To handle this issue, we propose a novel…

We present a novel method for reliable robot navigation in uneven outdoor terrains. Our approach employs a novel fully-trained Deep Reinforcement Learning (DRL) network that uses elevation maps of the environment, robot pose, and goal as…

In this paper, we address the challenge of exploring unknown indoor aerial environments using autonomous aerial robots with Size Weight and Power (SWaP) constraints. The SWaP constraints induce limits on mission time requiring efficiency in…

Data association in SLAM is fundamentally challenging, and handling ambiguity well is crucial to achieve robust operation in real-world environments. When ambiguous measurements arise, conservatism often mandates that the measurement is…

Modern intelligent and autonomous robotic applications often require robots to have more information about their environment than that provided by traditional occupancy grid maps. For example, a robot tasked to perform autonomous semantic…

Collaborative perception enhances sensing in multirobot and vehicular networks by fusing information from multiple agents, improving perception accuracy and sensing range. However, mobility and non-rigid sensor mounts introduce extrinsic…

Augmented reality (AR) has gained increasingly attention from both research and industry communities. By overlaying digital information and content onto the physical world, AR enables users to experience the world in a more informative and…

Many engineering applications rely on the evaluation of expensive, non-linear high-dimensional functions. In this paper, we propose the RONAALP algorithm (Reduced Order Nonlinear Approximation with Active Learning Procedure) to…

Reinforcement learning agents deployed in the real world often have to cope with partially observable environments. Therefore, most agents employ memory mechanisms to approximate the state of the environment. Recently, there have been…

Robot planning in partially observable environments, where not all objects are known or visible, is a challenging problem, as it requires reasoning under uncertainty through partially observable Markov decision processes. During the…

This paper presents a reactive planning system that enriches the topological representation of an environment with a tightly integrated semantic representation, achieved by incorporating and exploiting advances in deep perceptual learning…

We address a practical yet challenging problem of training robot agents to navigate in an environment following a path described by some language instructions. The instructions often contain descriptions of objects in the environment. To…

This paper presents a distributed approach for exploring and triangulating an unknown region using a multi- robot system. The objective is to produce a covering of an unknown workspace by a fixed number of robots such that the covered…

Collaborative perception (CP) is a critical technology in applications like autonomous driving and smart cities. It involves the sharing and fusion of information among sensors to overcome the limitations of individual perception, such as…

This work studies the problem of object goal navigation which involves navigating to an instance of the given object category in unseen environments. End-to-end learning-based navigation methods struggle at this task as they are ineffective…

Although autonomy has gained widespread usage in structured and controlled environments, robotic autonomy in unknown and off-road terrain remains a difficult problem. Extreme, off-road, and unstructured environments such as undeveloped…

Practical face recognition has been studied in the past decades, but still remains an open challenge. Current prevailing approaches have already achieved substantial breakthroughs in recognition accuracy. However, their performance usually…

Search and Rescue (SAR) missions in remote environments often employ autonomous multi-robot systems that learn, plan, and execute a combination of local single-robot control actions, group primitives, and global mission-oriented…