相关论文: ENTL: Embodied Navigation Trajectory Learner

Network representation learning (NRL) methods aim to map each vertex into a low dimensional space by preserving the local and global structure of a given network, and in recent years they have received a significant attention thanks to…

Large Language Models (LLMs) have demonstrated excellent capabilities in composing various modules together to create programs that can perform complex reasoning tasks on images. In this paper, we propose TANGO, an approach that extends the…

VLA models have shown promising potential in embodied navigation by unifying perception and planning while inheriting the strong generalization abilities of large VLMs. However, most existing VLA models rely on reactive mappings directly…

Embodied navigation (EN) advances traditional navigation by enabling robots to perform complex egocentric tasks through sensing, social, and motion intelligence. In contrast to classic methodologies that rely on explicit localization and…

Urban transportation systems encounter diverse challenges across multiple tasks, such as traffic forecasting, electric vehicle (EV) charging demand prediction, and taxi dispatch. Existing approaches suffer from two key limitations:…

Decision making via sequence modeling aims to mimic the success of language models, where actions taken by an embodied agent are modeled as tokens to predict. Despite their promising performance, it remains unclear if embodied sequence…

Making accurate motion prediction of surrounding agents such as pedestrians and vehicles is a critical task when robots are trying to perform autonomous navigation tasks. Recent research on multi-modal trajectory prediction, including…

Trajectory Representation Learning (TRL) is a powerful tool for spatial-temporal data analysis and management. TRL aims to convert complicated raw trajectories into low-dimensional representation vectors, which can be applied to various…

The ability of artificial intelligence agents to make optimal decisions and generalise them to different domains and tasks is compromised in complex scenarios. One way to address this issue has focused on learning efficient representations…

In Vision-and-Language Navigation (VLN), an embodied agent needs to reach a target destination with the only guidance of a natural language instruction. To explore the environment and progress towards the target location, the agent must…

In recent years, Embodied Artificial Intelligence (Embodied AI) has advanced rapidly, yet the increasing size of models conflicts with the limited computational capabilities of Embodied AI platforms. To address this challenge, we aim to…

Sequences and time-series often arise in robot tasks, e.g., in activity recognition and imitation learning. In recent years, deep neural networks (DNNs) have emerged as an effective data-driven methodology for processing sequences given…

Multivariate time series forecasting requires models to simultaneously capture variable-wise structural dependencies and generalize across diverse tasks. While structural encoders are effective in modeling feature interactions, they lack…

Pretrained models have become standard in both vision and language, yet they typically do not provide reliable measures of confidence. Existing uncertainty estimation methods, such as deep ensembles and MC dropout, are often too…

Link prediction, as a frontier task in complex network topology analysis, aims to infer the existence of latent links between node pairs based on observed nodes and structural information. We propose an ensemble link prediction model that…

Large language models (LLMs) have been widely explored for embedding generation. While recent studies show that in-context learning (ICL) effectively enhances the representational capability of LLMs by prepending a few task-related…

Vision-and-language Navigation (VLN) task requires an embodied agent to navigate to a remote location following a natural language instruction. Previous methods usually adopt a sequence model (e.g., Transformer and LSTM) as the navigator.…

Interaction and navigation defined by natural language instructions in dynamic environments pose significant challenges for neural agents. This paper focuses on addressing two challenges: handling long sequence of subtasks, and…

This work presents a case study of a learning-based approach for target driven map-less navigation. The underlying navigation model is an end-to-end neural network which is trained using a combination of expert demonstrations, imitation…

The long-tailed distribution of sequence lengths in LLM serving and reinforcement learning (RL) sampling causes significant computational waste due to excessive padding in batched inference. Existing methods rely on auxiliary models for…