相关论文: ENTL: Embodied Navigation Trajectory Learner

Imitation learning approaches achieve good generalization within the range of the training data, but tend to generate unpredictable motions when querying outside this range. We present a novel approach to imitation learning with enhanced…

In this work we present a novel end-to-end framework for tracking and classifying a robot's surroundings in complex, dynamic and only partially observable real-world environments. The approach deploys a recurrent neural network to filter an…

Examining the effect of different encoding techniques on entity and context embeddings, the goal of this work is to challenge commonly used Ordinal encoding for tabular learning. Applying different preprocessing methods and network…

We are witnessing significant progress on perception models, specifically those trained on large-scale internet images. However, efficiently generalizing these perception models to unseen embodied tasks is insufficiently studied, which will…

Given many recent advanced embedding models, selecting pre-trained word embedding (a.k.a., word representation) models best fit for a specific downstream task is non-trivial. In this paper, we propose a systematic approach, called ETNLP,…

Extreme Learning Machines (ELM) provide a fast alternative to traditional gradient-based learning in neural networks, offering rapid training and robust generalization capabilities. Its theoretical basis shows its universal approximation…

Network embedding is an effective method to learn low-dimensional representations of nodes, which can be applied to various real-life applications such as visualization, node classification, and link prediction. Although significant…

Traffic prediction, an essential component for intelligent transportation systems, endeavours to use historical data to foresee future traffic features at specific locations. Although existing traffic prediction models often emphasize…

Recent advancements in Large Language Models (LLMs) and Vision-Language Models (VLMs) have made them powerful tools in embodied navigation, enabling agents to leverage commonsense and spatial reasoning for efficient exploration in…

Vision-language models (VLMs) and generative world models are opening new opportunities for embodied navigation. VLMs are increasingly used as direct planners or trajectory predictors, while world models support look-ahead reasoning by…

Event cameras are novel sensors that perceive the per-pixel intensity changes and output asynchronous event streams with high dynamic range and less motion blur. It has been shown that events alone can be used for end-task learning, e.g.,…

MLLM agents demonstrate potential for complex embodied tasks by retrieving multimodal task-relevant trajectory data. However, current retrieval methods primarily focus on surface-level similarities of textual or visual cues in trajectories,…

Embodied visual tracking is a fundamental skill in Embodied AI, enabling an agent to follow a specific target in dynamic environments using only egocentric vision. This task is inherently challenging as it requires both accurate target…

Recently, the recurrent neural network transducer (RNN-T) architecture has become an emerging trend in end-to-end automatic speech recognition research due to its advantages of being capable for online streaming speech recognition. However,…

An ideal embodied agent should possess lifelong learning capabilities to handle long-horizon and complex tasks, enabling continuous operation in general environments. This not only requires the agent to accurately accomplish given tasks but…

Deep neural networks (DNNs) excel on fixed datasets but struggle with incremental and shifting data in real-world scenarios. Continual learning addresses this challenge by allowing models to learn from new data while retaining previously…

We introduce Emergent Trust Learning (ETL), a lightweight, trust-based control algorithm that can be plugged into existing AI agents. It enables these to reach cooperation in competitive game environments under shared resources. Each agent…

Traditional indoor robot navigation methods provide a reliable solution when adapted to constrained scenarios, but lack flexibility or require manual re-tuning when deployed in more complex settings. In contrast, learning-based approaches…

In this paper, we explore how we can build upon the data and models of Internet images and use them to adapt to robot vision without requiring any extra labels. We present a framework called Self-supervised Embodied Active Learning (SEAL).…

Navigation is a fundamental capability in embodied AI, representing the intelligence required to perceive and interact within physical environments following language instructions. Despite significant progress in large Vision-Language…