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

With the rapid development of Large Vision Language Models, the focus of Graphical User Interface (GUI) agent tasks shifts from single-screen tasks to complex screen navigation challenges. However, real-world GUI environments, such as PC…

This study presents an Exploratory Retrieval-Augmented Planning (ExRAP) framework, designed to tackle continual instruction following tasks of embodied agents in dynamic, non-stationary environments. The framework enhances Large Language…

Imitation learning-based robot control policies are enjoying renewed interest in video-based robotics. However, it remains unclear whether this approach applies to X-ray-guided procedures, such as spine instrumentation, with sparse inputs.…

In this paper, we propose an enhanced approach for Rapid Exploration and eXploitation for AI Agents called REX. Existing AutoGPT-style techniques have inherent limitations, such as a heavy reliance on precise descriptions for…

Visual Navigation is a core task in Embodied AI, enabling agents to navigate complex environments toward given objectives. Across diverse settings within Navigation tasks, many necessitate the modelling of sequential data accumulated from…

We address the problem of controlling a mobile robot to explore a partially known environment. The robot's objective is the maximization of the amount of information collected about the environment. We formulate the problem as a partially…

Occupancy grid maps (OGMs) are fundamental to most systems for autonomous robotic navigation. However, CPU-based implementations struggle to keep up with data rates from modern 3D lidar sensors, and provide little capacity for modern…

The goal of meta-reinforcement learning (meta-RL) is to build agents that can quickly learn new tasks by leveraging prior experience on related tasks. Learning a new task often requires both exploring to gather task-relevant information and…

There has been an increasing interest in 3D indoor navigation, where a robot in an environment moves to a target according to an instruction. To deploy a robot for navigation in the physical world, lots of training data is required to learn…

Real-world decision-making tasks typically occur in complex and open environments, posing significant challenges to reinforcement learning (RL) agents' exploration efficiency and long-horizon planning capabilities. A promising approach is…

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 robot policies achieve high performance through neural networks trained via reinforcement learning (RL). Yet, their black box nature and abstract reasoning pose challenges for human-robot interaction (HRI), because humans may…

Developing robust multi-modal feature representations is crucial for enhancing object tracking performance. In pursuit of this objective, a novel X Modality Assisting Network (X-Net) is introduced, which explores the impact of the fusion…

Recent advancements in Generative AI, particularly in Large Language Models (LLMs) and Large Vision-Language Models (LVLMs), offer new possibilities for integrating cognitive planning into robotic systems. In this work, we present a novel…

Mobile robots exploring indoor environments increasingly rely on vision-language models to perceive high-level semantic cues in camera images, such as object categories. Such models offer the potential to substantially advance robot…

Controlling high-dimensional systems in biological and robotic applications is challenging due to expansive state-action spaces, where effective exploration is critical. Commonly used exploration strategies in reinforcement learning are…

In reinforcement learning for visual navigation, it is common to develop a model for each new task, and train that model from scratch with task-specific interactions in 3D environments. However, this process is expensive; massive amounts of…

In this work, we consider the problem of autonomous exploration in search of targets while respecting a fixed energy budget. The robot is equipped with an incremental-resolution symbolic perception module wherein the perception of targets…

Understanding human instructions and accomplishing Vision-Language Navigation tasks in unknown environments is essential for robots. However, existing modular approaches heavily rely on the quality of training data and often exhibit poor…

Autonomous exploration in structured and complex indoor environments remains a challenging task, as existing methods often struggle to appropriately model unobserved space and plan globally efficient paths. To address these limitations, we…