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

Robotic learning for navigation in unfamiliar environments needs to provide policies for both task-oriented navigation (i.e., reaching a goal that the robot has located), and task-agnostic exploration (i.e., searching for a goal in a novel…

Learning to navigate in dynamic and complex open-world environments is a critical yet challenging capability for autonomous robots. Existing approaches often rely on cascaded modular frameworks, which require extensive hyperparameter tuning…

Despite significant advancements in the field of multi-agent navigation, agents still lack the sophistication and intelligence that humans exhibit in multi-agent settings. In this paper, we propose a framework for learning a human-like…

Cross-modal retrieval is generally performed by projecting and aligning the data from two different modalities onto a shared representation space. This shared space often also acts as a bridge for translating the modalities. We address the…

Depth estimation and scene segmentation are two important tasks in intelligent transportation systems. A joint modeling of these two tasks will reduce the requirement for both the storage and training efforts. This work explores how the…

Learning-based approaches often outperform hand-coded algorithmic solutions for many problems in robotics. However, learning long-horizon tasks on real robot hardware can be intractable, and transferring a learned policy from simulation to…

Navigation functions provide both path and motion planning, which can be used to ensure obstacle avoidance and convergence in the sphere world. When dealing with complex and realistic scenarios, constructing a transformation to the sphere…

The main challenge that sets transfer learning apart from traditional supervised learning is the distribution shift, reflected as the shift between the source and target models and that between the marginal covariate distributions. In this…

Learning based on multimodal data has attracted increasing interest recently. While a variety of sensory modalities can be collected for training, not all of them are always available in development scenarios, which raises the challenge to…

Cross-modal distillation has been widely used to transfer knowledge across different modalities, enriching the representation of the target unimodal one. Recent studies highly relate the temporal synchronization between vision and sound to…

Self-supervised learning has achieved remarkable success in learning visual representations from clean data, yet remains challenging when clean observations are sparse or not available at all. In this paper, we demonstrate that pretrained…

Learning robot tasks or controllers using deep reinforcement learning has been proven effective in simulations. Learning in simulation has several advantages. For example, one can fully control the simulated environment, including halting…

Goal-conditioned navigation models for ground robots trained using supervised learning show promising zero-shot transfer, but their collision-avoidance capability nevertheless degrades under distribution shift, i.e. environmental, robot or…

Visual servoing techniques guide robotic motion using visual information to accomplish manipulation tasks, requiring high precision and robustness against noise. Traditional methods often require prior knowledge and are susceptible to…

This paper presents a cross-modal learning framework that exploits complementary information from depth and grayscale images for robust navigation. We introduce a Cross-Modal Wasserstein Autoencoder that learns shared latent representations…

Autonomous systems have advanced significantly, but challenges persist in accident-prone environments where robust decision-making is crucial. A single vehicle's limited sensor range and obstructed views increase the likelihood of…

Multi-modal fusion is a fundamental task for the perception of an autonomous driving system, which has recently intrigued many researchers. However, achieving a rather good performance is not an easy task due to the noisy raw data,…

In recent years, pre-trained multimodal large models have attracted widespread attention due to their outstanding performance in various multimodal applications. Nonetheless, the extensive computational resources and vast datasets required…

Referring image segmentation (RIS) requires accurate segmentation of target regions in images according to language descriptions, which is a cross-modal task integrating vision and language. Existing RIS methods typically employ large-scale…

Multimodal learning systems often face substantial uncertainty due to noisy data, low-quality labels, and heterogeneous modality characteristics. These issues become especially critical in human-computer interaction settings, where data…