相关论文: Robustness of Utilizing Feedback in Embodied Visua…

In real-world scenarios, it is desirable for embodied agents to have the ability to leverage human language to gain explicit or implicit knowledge for learning tasks. Despite recent progress, most previous approaches adopt simple low-level…

As an attempt towards assessing the robustness of embodied navigation agents, we propose RobustNav, a framework to quantify the performance of embodied navigation agents when exposed to a wide variety of visual - affecting RGB inputs - and…

We propose a light-weight, self-supervised adaptation for a visual navigation agent to generalize to unseen environment. Given an embodied agent trained in a noiseless environment, our objective is to transfer the agent to a noisy…

The recent rapid advancement of machine learning has been driven by increasingly powerful models with the growing availability of training data and computational resources. However, real-time decision-making tasks with limited time and…

Embodied instruction following is a challenging problem requiring an agent to infer a sequence of primitive actions to achieve a goal environment state from complex language and visual inputs. Action Learning From Realistic Environments and…

Visual navigation is a task of training an embodied agent by intelligently navigating to a target object (e.g., television) using only visual observations. A key challenge for current deep reinforcement learning models lies in the…

Embodied navigation holds significant promise for real-world applications such as last-mile delivery. However, most existing approaches are confined to either indoor or outdoor environments and rely heavily on strong assumptions, such as…

Embodied AI agents continue to become more capable every year with the advent of new models, environments, and benchmarks, but are still far away from being performant and reliable enough to be deployed in real, user-facing, applications.…

The field of multimodal robot navigation in indoor environments has garnered significant attention in recent years. However, as tasks and methods become more advanced, the action decision systems tend to become more complex and operate as…

Embodiment is an important characteristic for all intelligent agents (creatures and robots), while existing scene description tasks mainly focus on analyzing images passively and the semantic understanding of the scenario is separated from…

Learning to navigate in unstructured environments is a challenging task for robots. While reinforcement learning can be effective, it often requires extensive data collection and can pose risk. Learning from expert demonstrations, on the…

In this paper, we offer a learning framework in which the agent's knowledge gaps are overcome through corrective feedback from a teacher whenever the agent explains its (incorrect) predictions. We test it in a low-resource visual processing…

Vision-and-language navigation requires an agent to navigate through a real 3D environment following natural language instructions. Despite significant advances, few previous works are able to fully utilize the strong correspondence between…

Finding an object of a specific class in an unseen environment remains an unsolved navigation problem. Hence, we propose a hierarchical learning-based method for object navigation. The top-level is capable of high-level planning, and…

We revisit the problem of Object-Goal Navigation (ObjectNav). In its simplest form, ObjectNav is defined as the task of navigating to an object, specified by its label, in an unexplored environment. In particular, the agent is initialized…

We train embodied agents to play Visual Hide and Seek where a prey must navigate in a simulated environment in order to avoid capture from a predator. We place a variety of obstacles in the environment for the prey to hide behind, and we…

Humans are able to identify a referred visual object in a complex scene via a few rounds of natural language communications. Success communication requires both parties to engage and learn to adapt for each other. In this paper, we…

To increase autonomy in reinforcement learning, agents need to learn useful behaviours without reliance on manually designed reward functions. To that end, skill discovery methods have been used to learn the intrinsic options available to…

Agents navigating in 3D environments require some form of memory, which should hold a compact and actionable representation of the history of observations useful for decision taking and planning. In most end-to-end learning approaches the…

Recent advances in open-vocabulary object detection models will enable Automatic Target Recognition systems to be sustainable and repurposed by non-technical end-users for a variety of applications or missions. New, and potentially nuanced,…