相关论文: Bird's Eye View Based Pretrained World model for V…

Visual robotic manipulation research and applications often use multiple cameras, or views, to better perceive the world. How else can we utilize the richness of multi-view data? In this paper, we investigate how to learn good…

Service robots are increasingly deployed in diverse and dynamic environments, where both physical layouts and social contexts change over time and across locations. In these unstructured settings, conventional navigation systems that rely…

Perception is essential for autonomous driving system. Recent approaches based on Bird's-eye-view (BEV) and deep learning have made significant progress. However, there exists challenging issues including lengthy development cycles, poor…

Navigating unfamiliar environments presents significant challenges for household robots, requiring the ability to recognize and reason about novel decoration and layout. Existing reinforcement learning methods cannot be directly transferred…

When performing 3D manipulation tasks, robots have to execute action planning based on perceptions from multiple fixed cameras. The multi-camera setup introduces substantial redundancy and irrelevant information, which increases…

Learning an accurate model of the environment is essential for model-based control tasks. Existing methods in robotic visuomotor control usually learn from data with heavily labelled actions, object entities or locations, which can be…

Recently, neural control policies have outperformed existing model-based planning-and-control methods for autonomously navigating quadrotors through cluttered environments in minimum time. However, they are not perception aware, a crucial…

We present a robot navigation system that uses an imitation learning framework to successfully navigate in complex environments. Our framework takes a pre-built 3D scan of a real environment and trains an agent from pre-generated expert…

Deep learning and reinforcement learning methods have been shown to enable learning of flexible and complex robot controllers. However, the reliance on large amounts of training data often requires data collection to be carried out in…

In a developmental framework, autonomous robots need to explore the world and learn how to interact with it. Without an a priori model of the system, this opens the challenging problem of having robots master their interface with the world:…

Target-driven visual navigation is a challenging problem that requires a robot to find the goal using only visual inputs. Many researchers have demonstrated promising results using deep reinforcement learning (deep RL) on various robotic…

World models learn behaviors in a latent imagination space to enhance the sample-efficiency of deep reinforcement learning (RL) algorithms. While learning world models for high-dimensional observations (e.g., pixel inputs) has become…

Deep learning methods have revolutionized mobile robotics, from advanced perception models for an enhanced situational awareness to novel control approaches through reinforcement learning. This paper explores the potential of federated…

In this paper, we present a state-of-the-art reinforcement learning method for autonomous driving. Our approach employs temporal difference learning in a Bayesian framework to learn vehicle control signals from sensor data. The agent has…

Learning visuomotor control policies in robotic systems is a fundamental problem when aiming for long-term behavioral autonomy. Recent supervised-learning-based vision and motion perception systems, however, are often separately built with…

Humans are able to seamlessly visually imitate others, by inferring their intentions and using past experience to achieve the same end goal. In other words, we can parse complex semantic knowledge from raw video and efficiently translate…

Ensuring safe navigation in complex environments requires accurate real-time traversability assessment and understanding of environmental interactions relative to the robot`s capabilities. Traditional methods, which assume simplified…

Point goal navigation (PGN) is a mapless navigation approach that trains robots to visually navigate to goal points without relying on pre-built maps. Despite significant progress in handling complex environments using deep reinforcement…

Visual navigation requires agents to reach goals in complex environments through perception and planning. World models address this task by simulating action-conditioned state transitions to predict future observations. Current navigation…

Bird's-Eye-View (BEV) perception has become a vital component of autonomous driving systems due to its ability to integrate multiple sensor inputs into a unified representation, enhancing performance in various downstream tasks. However,…