相关论文: Neural World Models for Computer Vision

Modeling human behavior in urban environments is fundamental for social science, behavioral studies, and urban planning. Prior work often rely on rigid, hand-crafted rules, limiting their ability to simulate nuanced intentions, plans, and…

We introduce Language World Models, a class of language-conditional generative model which interpret natural language messages by predicting latent codes of future observations. This provides a visual grounding of the message, similar to an…

We propose a novel scene representation that encodes reaching distance -- the distance between any position in the scene to a goal along a feasible trajectory. We demonstrate that this environment field representation can directly guide the…

While great strides have been made in using deep learning algorithms to solve supervised learning tasks, the problem of unsupervised learning - leveraging unlabeled examples to learn about the structure of a domain - remains a difficult…

Embodied navigation in open, dynamic environments demands accurate foresight of how the world will evolve and how actions will unfold over time. We propose AstraNav-World, an end-to-end world model that jointly reasons about future visual…

Autonomous intelligent agents must bridge computational challenges at disparate levels of abstraction, from the low-level spaces of sensory input and motor commands to the high-level domain of abstract reasoning and planning. A key question…

Over the last decade, Computer Vision, the branch of Artificial Intelligence aimed at understanding the visual world, has evolved from simply recognizing objects in images to describing pictures, answering questions about images, aiding…

One of the most basic skills a robot should possess is predicting the effect of physical interactions with objects in the environment. This enables optimal action selection to reach a certain goal state. Traditionally, dynamics are…

This paper presents an end-to-end approach for tracking static and dynamic objects for an autonomous vehicle driving through crowded urban environments. Unlike traditional approaches to tracking, this method is learned end-to-end, and is…

Mobile service robots are increasingly prevalent in human-centric, real-world domains, operating autonomously in unconstrained indoor environments. In such a context, robotic vision plays a central role in enabling service robots to…

Motion perception is a critical capability determining a variety of aspects of insects' life, including avoiding predators, foraging and so forth. A good number of motion detectors have been identified in the insects' visual pathways.…

Safe L2/L3 driving automation requires anticipating human-in-the-loop reactions during shared-control transitions. While most driving world models forecast the external environment, in-cabin intelligence remains strictly…

Despite the growing availability of 3D urban datasets, extracting insights remains challenging due to computational bottlenecks and the complexity of interacting with data. In fact, the intricate geometry of 3D urban environments results in…

Artificial intelligence (AI) systems power the world we live in. Deep neural networks (DNNs) are able to solve tasks in an ever-expanding landscape of scenarios, but our eagerness to apply these powerful models leads us to focus on their…

The ability to navigate from visual observations in unfamiliar environments is a core component of intelligent agents and an ongoing challenge for Deep Reinforcement Learning (RL). Street View can be a sensible testbed for such RL agents,…

Constructing and animating humans is an important component for building virtual worlds in a wide variety of applications such as virtual reality or robotics testing in simulation. As there are exponentially many variations of humans with…

A key challenge for an agent learning to interact with the world is to reason about physical properties of objects and to foresee their dynamics under the effect of applied forces. In order to scale learning through interaction to many…

Continual learning is often motivated by the idea, known as the big world hypothesis, that "the world is bigger" than the agent. Recent problem formulations capture this idea by explicitly constraining an agent relative to the environment.…

We propose the use of latent space generative world models to address the covariate shift problem in autonomous driving. A world model is a neural network capable of predicting an agent's next state given past states and actions. By…

Learning to control robots directly based on images is a primary challenge in robotics. However, many existing reinforcement learning approaches require iteratively obtaining millions of robot samples to learn a policy, which can take…