相关论文: Exploitation-Guided Exploration for Semantic Embod…

Learning to navigate to an image-specified goal is an important but challenging task for autonomous systems. The agent is required to reason the goal location from where a picture is shot. Existing methods try to solve this problem by…

Recent advances in Graphical User Interface (GUI) and embodied navigation have driven progress, yet these domains have largely evolved in isolation, with disparate datasets and training paradigms. In this paper, we observe that both tasks…

Object-Goal Navigation (ObjectNav) is a critical component toward deploying mobile robots in everyday, uncontrolled environments such as homes, schools, and workplaces. In this context, a robot must locate target objects in previously…

Vision-and-language navigation requires an agent to navigate through a real 3D environment following natural language instructions. Despite significant advances, few previous works are able to fully utilize the strong correspondence between…

Embodied navigation presents a core challenge for intelligent robots, requiring the comprehension of visual environments, natural language instructions, and autonomous exploration. Existing models often fall short in offering a unified…

Robotic navigation concerns the task in which a robot should be able to find a safe and feasible path and traverse between two points in a complex environment. We approach the problem of robotic navigation using reinforcement learning and…

Large-scale incremental mapping is fundamental to the development of robust and reliable autonomous systems, as it underpins incremental environmental understanding with sequential inputs for navigation and decision-making. LiDAR is widely…

Semantic maps allow a robot to reason about its surroundings to fulfill tasks such as navigating known environments, finding specific objects, and exploring unmapped areas. Traditional mapping approaches provide accurate geometric…

Existing language-driven embodied navigation paradigms face challenges in functional buildings (FBs) with highly similar features, as they lack the ability to effectively utilize priori spatial knowledge. To tackle this issue, we propose a…

This paper considers semi-supervised learning for tabular data. It is widely known that Xgboost based on tree model works well on the heterogeneous features while transductive support vector machine can exploit the low density separation…

Efficient exploration is critical for learning relational models in large-scale environments with complex, long-horizon tasks. Random exploration methods often collect redundant or irrelevant data, limiting their ability to learn accurate…

Navigation is an essential ability for mobile agents to be completely autonomous and able to perform complex actions. However, the problem of navigation for agents with limited (or no) perception of the world, or devoid of a fully defined…

Understanding how humans leverage prior knowledge to navigate unseen environments while making exploratory decisions is essential for developing autonomous robots with similar abilities. In this work, we propose ForesightNav, a novel…

We propose a simple but effective modular approach MOPA (Modular ObjectNav with PointGoal agents) to systematically investigate the inherent modularity of the object navigation task in Embodied AI. MOPA consists of four modules: (a) an…

Autonomous navigation is a fundamental task for robot vacuum cleaners in indoor environments. Since their core function is to clean entire areas, robots inevitably encounter dead zones in cluttered and narrow scenarios. Existing planning…

In this paper, we explore how we can build upon the data and models of Internet images and use them to adapt to robot vision without requiring any extra labels. We present a framework called Self-supervised Embodied Active Learning (SEAL).…

For applications in e-commerce, warehouses, healthcare, and home service, robots are often required to search through heaps of objects to grasp a specific target object. For mechanical search, we introduce X-Ray, an algorithm based on…

This paper investigates the automatic exploration problem under the unknown environment, which is the key point of applying the robotic system to some social tasks. The solution to this problem via stacking decision rules is impossible to…

We present a novel sensor-based learning navigation algorithm to compute a collision-free trajectory for a robot in dense and dynamic environments with moving obstacles or targets. Our approach uses deep reinforcement learning-based expert…

To perform tasks well in a new domain, one must first know something about it. This paper reports on a robot controller for navigation through unfamiliar indoor worlds. Based on spatial affordances, it integrates planning with reactive…