相关论文: Learning Hierarchical Interactive Multi-Object Sea…

We aim for mobile robots to function in a variety of common human environments. Such robots need to be able to reason about the locations of previously unseen target objects. Landmark objects can help this reasoning by narrowing down the…

Video object segmentation is an essential task in robot manipulation to facilitate grasping and learning affordances. Incremental learning is important for robotics in unstructured environments, since the total number of objects and their…

Non-prehensile multi-object rearrangement is a robotic task of planning feasible paths and transferring multiple objects to their predefined target poses without grasping. It needs to consider how each object reaches the target and the…

Cognitive maps play a crucial role in facilitating flexible behaviour by representing spatial and conceptual relationships within an environment. The ability to learn and infer the underlying structure of the environment is crucial for…

This paper considers the path planning problem for autonomous exploration of an unknown environment using multiple heterogeneous robots such as drones, wheeled, and legged robots, which have different capabilities to traverse complex…

Robotic systems are nowadays capable of solving complex navigation tasks. However, their capabilities are limited to the knowledge of the designer and consequently lack generalizability to initially unconsidered situations. This makes deep…

In reinforcement learning, pre-trained low-level skills have the potential to greatly facilitate exploration. However, prior knowledge of the downstream task is required to strike the right balance between generality (fine-grained control)…

We present an active visual search model for finding objects in unknown environments. The proposed algorithm guides the robot towards the sought object using the relevant stimuli provided by the visual sensors. Existing search strategies…

For robotic vehicles to navigate robustly and safely in unseen environments, it is crucial to decide the most suitable navigation policy. However, most existing deep reinforcement learning based navigation policies are trained with a…

Enabling autonomous robots to interact in unstructured environments with dynamic objects requires manipulation capabilities that can deal with clutter, changes, and objects' variability. This paper presents a comparison of different…

The growing presence of service robots in human-centric environments, such as warehouses, demands seamless and intuitive human-robot collaboration. In this paper, we propose a collaborative shelf-picking framework that combines multimodal…

Retrieving objects from clutters is a complex task, which requires multiple interactions with the environment until the target object can be extracted. These interactions involve executing action primitives like grasping or pushing as well…

Task-oriented object grasping and rearrangement are critical skills for robots to accomplish different real-world manipulation tasks. However, they remain challenging due to partial observations of the objects and shape variations in…

Many robotic tasks in real-world environments require physical interactions with an object such as pick up or push. For successful interactions, the robot needs to know the object's affordances, which are defined as the potential actions…

Building agents that can explore their environments intelligently is a challenging open problem. In this paper, we make a step towards understanding how a hierarchical design of the agent's policy can affect its exploration capabilities.…

Multi-robot autonomous exploration in an unknown environment is an important application in robotics.Traditional exploration methods only use information around frontier points or viewpoints, ignoring spatial information of unknown areas.…

For successful deployment of robots in multifaceted situations, an understanding of the robot for its environment is indispensable. With advancing performance of state-of-the-art object detectors, the capability of robots to detect objects…

Deep reinforcement learning algorithms require large and diverse datasets in order to learn successful policies for perception-based mobile navigation. However, gathering such datasets with a single robot can be prohibitively expensive.…

In swarm robotics, confrontation scenarios, including strategic confrontations, require efficient decision-making that integrates discrete commands and continuous actions. Traditional task and motion planning methods separate…

Sparse-reward domains are challenging for reinforcement learning algorithms since significant exploration is needed before encountering reward for the first time. Hierarchical reinforcement learning can facilitate exploration by reducing…