相关论文: Learning with a Mole: Transferable latent spatial …

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…

World model-based policy evaluation is a practical proxy for testing real-world robot control by rolling out candidate actions in action-conditioned video diffusion models. As these models increasingly adopt latent diffusion modeling (LDM),…

Exploration is an extremely challenging problem in reinforcement learning, especially in high dimensional state and action spaces and when only sparse rewards are available. Effective representations can indicate which components of the…

We introduce environment predictive coding, a self-supervised approach to learn environment-level representations for embodied agents. In contrast to prior work on self-supervised learning for images, we aim to jointly encode a series of…

Learning predictive models from interaction with the world allows an agent, such as a robot, to learn about how the world works, and then use this learned model to plan coordinated sequences of actions to bring about desired outcomes.…

Our understanding of the world depends highly on our capacity to produce intuitive and simplified representations which can be easily used to solve problems. We reproduce this simplification process using a neural network to build a low…

Visual navigation typically assumes the existence of at least one obstacle-free path between start and goal, which must be discovered/planned by the robot. However, in real-world scenarios, such as home environments and warehouses, clutter…

Using visual model-based learning for deformable object manipulation is challenging due to difficulties in learning plannable visual representations along with complex dynamic models. In this work, we propose a new learning framework that…

While supervised learning has enabled great progress in many applications, unsupervised learning has not seen such widespread adoption, and remains an important and challenging endeavor for artificial intelligence. In this work, we propose…

With the advent of deep neural networks, learning-based approaches for 3D reconstruction have gained popularity. However, unlike for images, in 3D there is no canonical representation which is both computationally and memory efficient yet…

Dashboard cameras capture a tremendous amount of driving scene video each day. These videos are purposefully coupled with vehicle sensing data, such as from the speedometer and inertial sensors, providing an additional sensing modality for…

Autonomous navigation in unknown environments requires multi-scale spatial understanding that captures geometric details, topological connectivity, and global structure to support high-level decision making under partial observability.…

This paper presents a framework for training an agent to actively request help in object-goal navigation tasks, with feedback indicating the location of the target object in its field of view. To make the agent more robust in scenarios…

Observational learning requires an agent to learn to perform a task by referencing only observations of the performed task. This work investigates the equivalent setting in real-world robot learning where access to hand-designed rewards and…

A long-standing goal in AI is to develop agents capable of solving diverse tasks across a range of environments, including those never seen during training. Two dominant paradigms address this challenge: (i) reinforcement learning (RL),…

In multi-agent navigation, agents need to move towards their goal locations while avoiding collisions with other agents and static obstacles, often without communication with each other. Existing methods compute motions that are optimal…

In this paper we compare learning-based methods and classical methods for navigation in virtual environments. We construct classical navigation agents and demonstrate that they outperform state-of-the-art learning-based agents on two…

Most model-free reinforcement learning methods leverage state representations (embeddings) for generalization, but either ignore structure in the space of actions or assume the structure is provided a priori. We show how a policy can be…

Multimodal learning, which integrates data from diverse sensory modes, plays a pivotal role in artificial intelligence. However, existing multimodal learning methods often struggle with challenges where some modalities appear more dominant…

We train embodied neural networks to plan and navigate unseen complex 3D environments, emphasising real-world deployment. Rather than requiring prior knowledge of the agent or environment, the planner learns to model the state transitions…