相关论文: Robust Navigation with Cross-Modal Fusion and Know…

Recent years have witnessed significant progress in autonomous navigation using reinforcement learning. However, existing approaches largely emphasize reinforcement learning framework design, such as input representations, action spaces,…

This paper addresses the limitations of large-scale language models in safety alignment and robustness by proposing a fine-tuning method that combines contrastive distillation with noise-robust training. The method freezes the backbone…

Humans are excellent at understanding language and vision to accomplish a wide range of tasks. In contrast, creating general instruction-following embodied agents remains a difficult challenge. Prior work that uses pure language-only models…

We propose a novel knowledge distillation approach to facilitate the transfer of dark knowledge from a teacher to a student. Contrary to most of the existing methods that rely on effective training of student models given pretrained…

Continual learning is essential for adapting models to new tasks while retaining previously acquired knowledge. While existing approaches predominantly focus on uni-modal data, multi-modal learning offers substantial benefits by utilizing…

Imitation learning has emerged as a powerful paradigm in robot manipulation, yet its generalization capability remains constrained by object-specific dependencies in limited expert demonstrations. To address this challenge, we propose…

Uniform and variable environments still remain a challenge for stable visual localization and mapping in mobile robot navigation. One of the possible approaches suitable for such environments is appearance-based teach-and-repeat navigation,…

Sociability is essential for modern robots to increase their acceptability in human environments. Traditional techniques use manually engineered utility functions inspired by observing pedestrian behaviors to achieve social navigation.…

This manuscript explores multimodal alignment, translation, fusion, and transference to enhance machine understanding of complex inputs. We organize the work into five chapters, each addressing unique challenges in multimodal machine…

Obstacle avoidance is crucial for mobile robots' navigation in both known and unknown environments. This research designs, trains, and tests two custom Convolutional Neural Networks (CNNs), using color and depth images from a depth camera…

In the surveillance and defense domain, multi-target detection and classification (MTD) is considered essential yet challenging due to heterogeneous inputs from diverse data sources and the computational complexity of algorithms designed…

This paper considers the problem of enabling robots to navigate dynamic environments while following instructions. The challenge lies in the combinatorial nature of instruction specifications: each instruction can include multiple…

Collecting training data from the physical world is usually time-consuming and even dangerous for fragile robots, and thus, recent advances in robot learning advocate the use of simulators as the training platform. Unfortunately, the…

Under-canopy agricultural robots require robust navigation capabilities to enable full autonomy but struggle with tight row turning between crop rows due to degraded GPS reception, visual aliasing, occlusion, and complex vehicle dynamics.…

In 3D action recognition, there exists rich complementary information between skeleton modalities. Nevertheless, how to model and utilize this information remains a challenging problem for self-supervised 3D action representation learning.…

How should we integrate representations from complementary sensors for autonomous driving? Geometry-based fusion has shown promise for perception (e.g. object detection, motion forecasting). However, in the context of end-to-end driving, we…

Robust semantic perception for autonomous vehicles relies on effectively combining multiple sensors with complementary strengths and weaknesses. State-of-the-art sensor fusion approaches to semantic perception often treat sensor data…

End-to-end approaches to autonomous driving have high sample complexity and are difficult to scale to realistic urban driving. Simulation can help end-to-end driving systems by providing a cheap, safe, and diverse training environment. Yet…

Practical learning-based autonomous driving models must be capable of generalizing learned behaviors from simulated to real domains, and from training data to unseen domains with unusual image properties. In this paper, we investigate…

Knowledge distillation aims to train a compact student network using soft supervision from a larger teacher network and hard supervision from ground truths. However, determining an optimal knowledge fusion ratio that balances these…