相关论文: Learning Semantic-Agnostic and Spatial-Aware Repre…

Visual navigation in unknown environments based solely on natural language descriptions is a key capability for intelligent robots. In this work, we propose a navigation framework built upon off-the-shelf Visual Language Models (VLMs),…

Detecting sound source objects within visual observation is important for autonomous robots to comprehend surrounding environments. Since sounding objects have a large variety with different appearances in our living environments, labeling…

Deep Reinforcement Learning has been successfully applied in various computer games [8]. However, it is still rarely used in real-world applications, especially for the navigation and continuous control of real mobile robots [13]. Previous…

Service robots are increasingly deployed in diverse and dynamic environments, where both physical layouts and social contexts change over time and across locations. In these unstructured settings, conventional navigation systems that rely…

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…

Training vision-based manipulation policies that are robust across diverse visual environments remains an important and unresolved challenge in robot learning. Current approaches often sidestep the problem by relying on invariant…

Humans are able to localize objects in the environment using both visual and auditory cues, integrating information from multiple modalities into a common reference frame. We introduce a system that can leverage unlabeled audio-visual data…

We introduce a learning-based approach for room navigation using semantic maps. Our proposed architecture learns to predict top-down belief maps of regions that lie beyond the agent's field of view while modeling architectural and stylistic…

In the context of visual navigation, the capacity to map a novel environment is necessary for an agent to exploit its observation history in the considered place and efficiently reach known goals. This ability can be associated with spatial…

Autonomous agents need large repertoires of skills to act reasonably on new tasks that they have not seen before. However, acquiring these skills using only a stream of high-dimensional, unstructured, and unlabeled observations is a tricky…

Mobile robots exploring indoor environments increasingly rely on vision-language models to perceive high-level semantic cues in camera images, such as object categories. Such models offer the potential to substantially advance robot…

Seamless integration of virtual and physical worlds in augmented reality benefits from the system semantically "understanding" the physical environment. AR research has long focused on the potential of context awareness, demonstrating novel…

Zero-shot Vision-and-Language Navigation (VLN) agents leveraging Large Language Models (LLMs) excel in generalization but suffer from insufficient spatial perception. Focusing on complex continuous environments, we categorize key perceptual…

Constructing an embedding space for musical instrument sounds that can meaningfully represent new and unseen instruments is important for downstream music generation tasks such as multi-instrument synthesis and timbre transfer. The…

The deployment of autonomous service robots in human-centric environments is hindered by a critical gap in perception and planning. Traditional navigation systems rely on expensive LiDARs that, while geometrically precise, are semantically…

Visual exploration is a task that seeks to visit all the navigable areas of an environment as quickly as possible. The existing methods employ deep reinforcement learning (RL) as the standard tool for the task. However, they tend to be…

Training intelligent agents that can drive autonomously in various urban and highway scenarios has been a hot topic in the robotics society within the last decades. However, the diversity of driving environments in terms of road topology…

Semantic 3D scene understanding is a problem of critical importance in robotics. While significant advances have been made in simultaneous localization and mapping algorithms, robots are still far from having the common sense knowledge…

Audio-visual navigation combines sight and hearing to navigate to a sound-emitting source in an unmapped environment. While recent approaches have demonstrated the benefits of audio input to detect and find the goal, they focus on clean and…

Visual Teach and Repeat has shown relative navigation is a robust and efficient solution for autonomous vision-based path following in difficult environments. Adding additional absolute sensors such as Global Navigation Satellite Systems…