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

Visual event perception tasks such as action localization have primarily focused on supervised learning settings under a static observer, i.e., the camera is static and cannot be controlled by an algorithm. They are often restricted by the…

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…

In the context of autonomous navigation of terrestrial robots, the creation of realistic models for agent dynamics and sensing is a widespread habit in the robotics literature and in commercial applications, where they are used for model…

Embodied agents struggle to generalize to new environments, even when those environments share similar underlying structures to their training settings. Most current approaches to generating these training environments follow an open-loop…

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…

Recent time-contrastive learning approaches manage to learn invariant object representations without supervision. This is achieved by mapping successive views of an object onto close-by internal representations. When considering this…

Passive visual systems typically fail to recognize objects in the amodal setting where they are heavily occluded. In contrast, humans and other embodied agents have the ability to move in the environment, and actively control the viewing…

Despite numerous successes, the field of reinforcement learning (RL) remains far from matching the impressive generalisation power of human behaviour learning. One possible way to help bridge this gap be to provide RL agents with richer,…

Recent advances in deep reinforcement learning and scalable photorealistic simulation have led to increasingly mature embodied AI for various visual tasks, including navigation. However, while impressive progress has been made for teaching…

A crucial ability of mobile intelligent agents is to integrate the evidence from multiple sensory inputs in an environment and to make a sequence of actions to reach their goals. In this paper, we attempt to approach the problem of…

The research community has shown increasing interest in designing intelligent embodied agents that can assist humans in accomplishing tasks. Although there have been significant advancements in related vision-language benchmarks, most prior…

Object-goal navigation (Object-nav) entails searching, recognizing and navigating to a target object. Object-nav has been extensively studied by the Embodied-AI community, but most solutions are often restricted to considering static…

This paper extends recent work in interactive machine learning (IML) focused on effectively incorporating human feedback. We show how control and feedback signals complement each other in systems which model human reward. We demonstrate…

In an unfamiliar setting, a model-based reinforcement learning agent can be limited by the accuracy of its world model. In this work, we present a novel, training-free approach to improving the performance of such agents separately from…

Object goal navigation aims to navigate an agent to locations of a given object category in unseen environments. Classical methods explicitly build maps of environments and require extensive engineering while lacking semantic information…

Current approaches to embodied AI tend to learn policies from expert demonstrations. However, without a mechanism to evaluate the quality of demonstrated actions, they are limited to learning from optimal behaviour, or they risk replicating…

Embodied visual tracking is to follow a target object in dynamic 3D environments using an agent's egocentric vision. This is a vital and challenging skill for embodied agents. However, existing methods suffer from inefficient training and…

Recently, model-free reinforcement learning algorithms have been shown to solve challenging problems by learning from extensive interaction with the environment. A significant issue with transferring this success to the robotics domain is…

Consider an assistive system that guides visually impaired users through speech and haptic feedback to their destination. Existing robotic and ubiquitous navigation technologies (e.g., portable, ground, or wearable systems) often operate in…

ObjectGoal Navigation (ObjectNav) is an embodied task wherein agents are to navigate to an object instance in an unseen environment. Prior works have shown that end-to-end ObjectNav agents that use vanilla visual and recurrent modules, e.g.…