相关论文: Learning to navigate efficiently and precisely in …

Embodied AI and robotic systems increasingly depend on scalable, diverse, and physically grounded 3D content for simulation-based training and real-world deployment. While 3D generative modeling has advanced rapidly, embodied applications…

Embodied AI has been recently gaining attention as it aims to foster the development of autonomous and intelligent agents. In this paper, we devise a novel embodied setting in which an agent needs to explore a previously unknown environment…

Embodied artificial intelligence (Embodied AI) plays a pivotal role in the application of advanced technologies in the intelligent era, where AI systems are integrated with physical bodies that enable them to perceive, reason, and interact…

We have observed significant progress in visual navigation for embodied agents. A common assumption in studying visual navigation is that the environments are static; this is a limiting assumption. Intelligent navigation may involve…

We present a semantically rich graph representation for indoor robotic navigation. Our graph representation encodes: semantic locations such as offices or corridors as nodes, and navigational behaviors such as enter office or cross a…

Deep Reinforcement Learning has been successfully applied in various computer games [8]. However, it is still rarely used in real-world applications, especially for the navigation and continuous control of real mobile robots [13]. Previous…

If a robotic agent wants to exploit symbolic planning techniques to achieve some goal, it must be able to properly ground an abstract planning domain in the environment in which it operates. However, if the environment is initially unknown…

Given the versatility of generative adversarial networks (GANs), we seek to understand the benefits gained from using an existing GAN to enhance simulated images and reduce the sim-to-real gap. We conduct an analysis in the context of…

In this paper, we introduce the notion of simulation-gap functions to formally quantify the potential gap between an approximate nominal mathematical model and the high-fidelity simulator representation of a real system. Given a nominal…

In learning an embodied agent executing daily tasks via language directives, the literature largely assumes that the agent learns all training data at the beginning. We argue that such a learning scenario is less realistic since a robotic…

Recent work in sim2real has successfully enabled robots to act in physical environments by training in simulation with a diverse ''population'' of environments (i.e. domain randomization). In this work, we focus on enabling generalization…

Reliable simulation evaluation of robot manipulation policies serves as a high-fidelity proxy for real-world performance. Although existing benchmarks cover a wide range of task categories, they lack visual realism, creating a large domain…

Virtual models of human gait, or digital twins, offer a promising solution for studying mobility without the need for labor-intensive data collection. However, challenges such as the sim-to-real gap and limited adaptability to diverse…

Global localisation from visual data is a challenging problem applicable to many robotics domains. Prior works have shown that neural networks can be trained to map images of an environment to absolute camera pose within that environment,…

Unprecedented agility and dexterous manipulation have been demonstrated with controllers based on deep reinforcement learning (RL), with a significant impact on legged and humanoid robots. Modern tooling and simulation platforms, such as…

Predicting future sensory states is crucial for learning agents such as robots, drones, and autonomous vehicles. In this paper, we couple multiple sensory modalities with exploratory actions and propose a predictive neural network…

Applying end-to-end learning to solve complex, interactive, pixel-driven control tasks on a robot is an unsolved problem. Deep Reinforcement Learning algorithms are too slow to achieve performance on a real robot, but their potential has…

Robots can learn to do complex tasks in simulation, but often, learned behaviors fail to transfer well to the real world due to simulator imperfections (the reality gap). Some existing solutions to this sim-to-real problem, such as Grounded…

Image-based learning methods for autonomous vehicle perception tasks require large quantities of labelled, real data in order to properly train without overfitting, which can often be incredibly costly. While leveraging the power of…

This paper describes our research on AI agents embodied in visual, virtual or physical forms, enabling them to interact with both users and their environments. These agents, which include virtual avatars, wearable devices, and robots, are…