相关论文: Multi-Object Navigation with dynamically learned n…

While the last five years have seen considerable progress in understanding the internal representations of deep learning models, many questions remain. This is especially true when trying to understand the impact of model design choices,…

Prospection is an important part of how humans come up with new task plans, but has not been explored in depth in robotics. Predicting multiple task-level is a challenging problem that involves capturing both task semantics and continuous…

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…

Semi-supervised learning algorithms typically construct a weighted graph of data points to represent a manifold. However, an explicit graph representation is problematic for neural networks operating in the online setting. Here, we propose…

This paper presents a Deep Reinforcement Learning based navigation approach in which we define the occupancy observations as heuristic evaluations of motion primitives, rather than using raw sensor data. Our method enables fast mapping of…

Lexical semantics and cognitive science point to affordances (i.e. the actions that objects support) as critical for understanding and representing nouns and verbs. However, study of these semantic features has not yet been integrated with…

In this work we use deep reinforcement learning to create an autonomous agent that can navigate in a two-dimensional space using only raw auditory sensory information from the environment, a problem that has received very little attention…

Vision-and-Language Navigation (VLN) requires an embodied agent to ground complex natural-language instructions into long-horizon navigation in unseen environments. While Vision-Language Models (VLMs) offer strong 2D semantic understanding,…

Task-oriented object grasping and rearrangement are critical skills for robots to accomplish different real-world manipulation tasks. However, they remain challenging due to partial observations of the objects and shape variations in…

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…

Neural implicit representations have shown substantial improvements in efficiently storing 3D data, when compared to conventional formats. However, the focus of existing work has mainly been on storage and subsequent reconstruction. In this…

The navigation problem is classically approached in two steps: an exploration step, where map-information about the environment is gathered; and an exploitation step, where this information is used to navigate efficiently. Deep…

Human perception is structured around objects which form the basis for our higher-level cognition and impressive systematic generalization abilities. Yet most work on representation learning focuses on feature learning without even…

In this paper we compare learning-based methods and classical methods for navigation in virtual environments. We construct classical navigation agents and demonstrate that they outperform state-of-the-art learning-based agents on two…

To endow machines with the ability to perceive the real-world in a three dimensional representation as we do as humans is a fundamental and long-standing topic in Artificial Intelligence. Given different types of visual inputs such as…

One essential step to realize modern driver assistance technology is the accurate knowledge about the location of static objects in the environment. In this work, we use artificial neural networks to predict the occupation state of a whole…

The objective of this paper is to design novel multi-layer neural network architectures for multiscale simulations of flows taking into account the observed data and physical modeling concepts. Our approaches use deep learning concepts…

Representations learnt through deep neural networks tend to be highly informative, but opaque in terms of what information they learn to encode. We introduce an approach to probabilistic modelling that learns to represent data with two…

Detection and segmentation of moving obstacles, along with prediction of the future occupancy states of the local environment, are essential for autonomous vehicles to proactively make safe and informed decisions. In this paper, we propose…

Recent implicit neural rendering methods have demonstrated that it is possible to learn accurate view synthesis for complex scenes by predicting their volumetric density and color supervised solely by a set of RGB images. However, existing…