相关论文: IndoorSim-to-OutdoorReal: Learning to Navigate Out…

Enabling robots to autonomously navigate unknown, complex, and dynamic real-world environments presents several challenges, including imperfect perception, partial observability, localization uncertainty, and safety constraints. Current…

This paper presents a Sim2Real (Simulation to Reality) approach to bridge the gap between a trained agent in a simulated environment and its real-world implementation in navigating a robot in a similar setting. Specifically, we focus on…

Autonomous navigation in congested maritime environments is a critical capability for a wide range of real-world applications. However, it remains an unresolved challenge due to complex vessel interactions and significant environmental…

A prevailing view in robot learning is that simulation alone is not enough; effective sim-to-real transfer is widely believed to require at least some real-world data collection or task-specific fine-tuning to bridge the gap between…

Simulation based learning often provides a cost-efficient recourse to reinforcement learning applications in robotics. However, simulators are generally incapable of accurately replicating real-world dynamics, and thus bridging the sim2real…

Reliable autonomous navigation across the unstructured terrains of distant planetary surfaces is a critical enabler for future space exploration. However, the deployment of learning-based controllers is hindered by the inherent sim-to-real…

Visual navigation by mobile robots is classically tackled through SLAM plus optimal planning, and more recently through end-to-end training of policies implemented as deep networks. While the former are often limited to waypoint planning,…

The research field of Embodied AI has witnessed substantial progress in visual navigation and exploration thanks to powerful simulating platforms and the availability of 3D data of indoor and photorealistic environments. These two factors…

We present a robot navigation system that uses an imitation learning framework to successfully navigate in complex environments. Our framework takes a pre-built 3D scan of a real environment and trains an agent from pre-generated expert…

Off-road navigation is a challenging problem both at the planning level to get a smooth trajectory and at the control level to avoid flipping over, hitting obstacles, or getting stuck at a rough patch. There have been several recent works…

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…

Learning to navigate in dynamic and complex open-world environments is a critical yet challenging capability for autonomous robots. Existing approaches often rely on cascaded modular frameworks, which require extensive hyperparameter tuning…

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…

Semantic navigation is necessary to deploy mobile robots in uncontrolled environments like our homes, schools, and hospitals. Many learning-based approaches have been proposed in response to the lack of semantic understanding of the…

Enabling robots to navigate following diverse language instructions in unexplored environments is an attractive goal for human-robot interaction. However, this goal is challenging because different navigation tasks require different…

Although quadcopters boast impressive traversal capabilities enabled by their omnidirectional maneuverability, the need for continuous pilot control in complex environments impedes their application in GNSS and telemetry-denied scenarios.…

We present ConVOI, a novel method for autonomous robot navigation in real-world indoor and outdoor environments using Vision Language Models (VLMs). We employ VLMs in two ways: first, we leverage their zero-shot image classification…

We present Nav2Goal, a data-efficient and end-to-end learning method for goal-conditioned visual navigation. Our technique is used to train a navigation policy that enables a robot to navigate close to sparse geographic waypoints provided…

We use model-free reinforcement learning, extensive simulation, and transfer learning to develop a continuous control algorithm that has good zero-shot performance in a real physical environment. We train a simulated agent to act optimally…

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…