相关论文: Learning Navigational Visual Representations with …

Enabling robots to autonomously navigate complex environments is essential for real-world deployment. Prior methods approach this problem by having the robot maintain an internal map of the world, and then use a localization and planning…

Well structured visual representations can make robot learning faster and can improve generalization. In this paper, we study how we can acquire effective object-centric representations for robotic manipulation tasks without human labeling…

Self-supervised pre-training based on next-token prediction has enabled large language models to capture the underlying structure of text, and has led to unprecedented performance on a large array of tasks when applied at scale. Similarly,…

This paper proposes an end-to-end deep reinforcement learning approach for mobile robot navigation with dynamic obstacles avoidance. Using experience collected in a simulation environment, a convolutional neural network (CNN) is trained to…

We propose a method to tackle the problem of mapless collision-avoidance navigation where humans are present using 2D laser scans. Our proposed method uses ego-safety to measure collision from the robot's perspective while social-safety to…

Enhancing the spatial perception capabilities of mobile robots is crucial for achieving embodied Vision-and-Language Navigation (VLN). Although significant progress has been made in simulated environments, directly transferring these…

A robot that can carry out a natural-language instruction has been a dream since before the Jetsons cartoon series imagined a life of leisure mediated by a fleet of attentive robot helpers. It is a dream that remains stubbornly distant.…

Humans excel at efficiently navigating through crowds without collision by focusing on specific visual regions relevant to navigation. However, most robotic visual navigation methods rely on deep learning models pre-trained on vision tasks,…

This work presents a modular architecture for simultaneous mapping and target driven navigation in indoors environments. The semantic and appearance stored in 2.5D map is distilled from RGB images, semantic segmentation and outputs of…

This paper studies the problem of image-goal navigation which involves navigating to the location indicated by a goal image in a novel previously unseen environment. To tackle this problem, we design topological representations for space…

In order to autonomously learn wide repertoires of complex skills, robots must be able to learn from their own autonomously collected data, without human supervision. One learning signal that is always available for autonomously collected…

Learning for robot navigation presents a critical and challenging task. The scarcity and costliness of real-world datasets necessitate efficient learning approaches. In this letter, we exploit Euclidean symmetry in planning for 2D…

Understanding human perceptions of robot performance is crucial for designing socially intelligent robots that can adapt to human expectations. Current approaches often rely on surveys, which can disrupt ongoing human-robot interactions. As…

Can conversational videos captured from multiple egocentric viewpoints reveal the map of a scene in a cost-efficient way? We seek to answer this question by proposing a new problem: efficiently building the map of a previously unseen 3D…

We present a framework for autonomously learning a portable representation that describes a collection of low-level continuous environments. We show that these abstract representations can be learned in a task-independent egocentric space…

Model-free reinforcement learning has recently been shown to be effective at learning navigation policies from complex image input. However, these algorithms tend to require large amounts of interaction with the environment, which can be…

The egocentric and exocentric viewpoints of a human activity look dramatically different, yet invariant representations to link them are essential for many potential applications in robotics and augmented reality. Prior work is limited to…

Autonomous agents, particularly in the field of robotics, rely on sensory information to perceive and navigate their environment. However, these sensory inputs are often imperfect, leading to distortions in the agent's internal…

Egocentric spatial memory (ESM) defines a memory system with encoding, storing, recognizing and recalling the spatial information about the environment from an egocentric perspective. We introduce an integrated deep neural network…

This paper presents a Deep Reinforcement Learning based navigation approach in which we define the occupancy observations as heuristic evaluations of motion primitives, rather than using raw sensor data. Our method enables fast mapping of…