相关论文: Learning Navigational Visual Representations with …

Vision-Language Models (VLMs) have shown great success as foundational models for downstream vision and natural language applications in a variety of domains. However, these models are limited to reasoning over objects and actions currently…

Despite the significant advances in Deep Reinforcement Learning (RL) observed in the last decade, the amount of training experience necessary to learn effective policies remains one of the primary concerns in both simulated and real…

Research in child development has shown that embodied experience handling physical objects contributes to many cognitive abilities, including visual learning. One characteristic of such experience is that the learner sees the same object…

Traditional path-planning techniques treat humans as obstacles. This has changed since robots started to enter human environments. On modern robots, social navigation has become an important aspect of navigation systems. To use…

Manually specifying features that capture the diversity in traffic environments is impractical. Consequently, learning-based agents cannot realize their full potential as neural motion planners for autonomous vehicles. Instead, this work…

How do humans navigate to target objects in novel scenes? Do we use the semantic/functional priors we have built over years to efficiently search and navigate? For example, to search for mugs, we search cabinets near the coffee machine and…

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…

Driving in the dynamic, multi-agent, and complex urban environment is a difficult task requiring a complex decision policy. The learning of such a policy requires a state representation that can encode the entire environment. Mid-level…

This paper presents a novel approach for the Vision-and-Language Navigation (VLN) task in continuous 3D environments, which requires an autonomous agent to follow natural language instructions in unseen environments. Existing end-to-end…

Self-supervised learning is showing great promise for monocular depth estimation, using geometry as the only source of supervision. Depth networks are indeed capable of learning representations that relate visual appearance to 3D properties…

As robots increasingly enter human-centered environments, they must not only be able to navigate safely around humans, but also adhere to complex social norms. Humans often rely on non-verbal communication through gestures and facial…

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…

Self-supervised representation learning is able to learn semantically meaningful features; however, much of its recent success relies on multiple crops of an image with very few objects. Instead of learning view-invariant representation…

We discuss the process of building semantic maps, how to interactively label entities in them, and how to use them to enable context-aware navigation behaviors in human environments. We utilize planar surfaces, such as walls and tables, and…

Visual navigation is a task of training an embodied agent by intelligently navigating to a target object (e.g., television) using only visual observations. A key challenge for current deep reinforcement learning models lies in the…

When searching for an object humans navigate through a scene using semantic information and spatial relationships. We look for an object using our knowledge of its attributes and relationships with other objects to infer the probable…

Visual navigation models based on deep learning can learn effective policies when trained on large amounts of visual observations through reinforcement learning. Unfortunately, collecting the required experience in the real world requires…

Model-based control is a popular paradigm for robot navigation because it can leverage a known dynamics model to efficiently plan robust robot trajectories. However, it is challenging to use model-based methods in settings where the…

The imagination of the surrounding environment based on experience and semantic cognition has great potential to extend the limited observations and provide more information for mapping, collision avoidance, and path planning. This paper…

Visual Semantic Navigation (VSN) is a fundamental problem in robotics, where an agent must navigate toward a target object in an unknown environment, mainly using visual information. Most state-of-the-art VSN models are trained in…