相关论文: A Simple Approach for Visual Rearrangement: 3D Map…

A number of recent approaches to policy learning in 2D game domains have been successful going directly from raw input images to actions. However when employed in complex 3D environments, they typically suffer from challenges related to…

Vision-and-Language Navigation (VLN) tasks such as Room-to-Room (R2R) require machine agents to interpret natural language instructions and learn to act in visually realistic environments to achieve navigation goals. The overall task…

Alignment between real and virtual objects is a challenging task required for the deployment of Mixed Reality (MR) into manufacturing, medical, and construction applications. To face this challenge, a series of methods have been proposed.…

This paper addresses non-prehensile rearrangement planning problems where a robot is tasked to rearrange objects among obstacles on a planar surface. We present an efficient planning algorithm that is designed to impose few assumptions on…

Target search problems are central to a wide range of fields, from biological foraging to the optimization algorithms. Recently, the ability to reset the search has been shown to significantly improve the searcher's efficiency. However, the…

Manipulating objects is a hallmark of human intelligence, and an important task in domains such as robotics. In principle, Reinforcement Learning (RL) offers a general approach to learn object manipulation. In practice, however, domains…

Semantic maps allow a robot to reason about its surroundings to fulfill tasks such as navigating known environments, finding specific objects, and exploring unmapped areas. Traditional mapping approaches provide accurate geometric…

For a given scene, humans can easily reason for the locations and pose to place objects. Designing a computational model to reason about these affordances poses a significant challenge, mirroring the intuitive reasoning abilities of humans.…

Human perception of visual similarity is inherently adaptive and subjective, depending on the users' interests and focus. However, most image retrieval systems fail to reflect this flexibility, relying on a fixed, monolithic metric that…

As capturing devices become common, 3D scans of interior spaces are acquired on a daily basis. Through scene comparison over time, information about objects in the scene and their changes is inferred. This information is important for…

We propose to directly map raw visual observations and text input to actions for instruction execution. While existing approaches assume access to structured environment representations or use a pipeline of separately trained models, we…

Robotic planning systems model spatial relations in detail as these are needed for manipulation tasks. In contrast to this, other physical attributes of objects and the effect of devices are usually oversimplified and expressed by abstract…

In visual semantic navigation, the robot navigates to a target object with egocentric visual observations and the class label of the target is given. It is a meaningful task inspiring a surge of relevant research. However, most of the…

Visual Reinforcement Learning is a popular and powerful framework that takes full advantage of the Deep Learning breakthrough. It is known that variations in input domains (e.g., different panorama colors due to seasonal changes) or task…

We have observed significant progress in visual navigation for embodied agents. A common assumption in studying visual navigation is that the environments are static; this is a limiting assumption. Intelligent navigation may involve…

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…

Finding an high-quality solution for the tabletop object rearrangement planning is a challenging problem. Compared to determining a goal arrangement, rearrangement planning is challenging due to the dependencies between objects and the…

The ability to form complex plans based on raw visual input is a litmus test for current capabilities of artificial intelligence, as it requires a seamless combination of visual processing and abstract algorithmic execution, two…

Visual localization and mapping is a crucial capability to address many challenges in mobile robotics. It constitutes a robust, accurate and cost-effective approach for local and global pose estimation within prior maps. Yet, in highly…

A complex visual navigation task puts an agent in different situations which call for a diverse range of visual perception abilities. For example, to "go to the nearest chair", the agent might need to identify a chair in a living room using…