相关论文: Feudal Networks for Visual Navigation

Zero-shot learning for visual recognition, e.g., object and action recognition, has recently attracted a lot of attention. However, it still remains challenging in bridging the semantic gap between visual features and their underlying…

When the navigational environment is known, it can be represented as a graph where landmarks are nodes, the robot behaviors that move from node to node are edges, and the route is a set of behavioral instructions. The route path from source…

Navigation in the natural world is a feat of adaptive inference, where biological organisms maintain goal-directed behaviour despite noisy and incomplete sensory streams. Central to this ability is the Free Energy Principle (FEP), which…

Robotic systems are nowadays capable of solving complex navigation tasks. However, their capabilities are limited to the knowledge of the designer and consequently lack generalizability to initially unconsidered situations. This makes deep…

Solving complex problems using reinforcement learning necessitates breaking down the problem into manageable tasks and learning policies to solve these tasks. These policies, in turn, have to be controlled by a master policy that takes…

Visual relations form the basis of understanding our compositional world, as relationships between visual objects capture key information in a scene. It is then advantageous to learn relations automatically from the data, as learning with…

Sociability is essential for modern robots to increase their acceptability in human environments. Traditional techniques use manually engineered utility functions inspired by observing pedestrian behaviors to achieve social navigation.…

Imitation learning for end-to-end autonomous driving has drawn attention from academic communities. Current methods either only use images as the input which is ambiguous when a car approaches an intersection, or use additional command…

This paper presents a framework for training an agent to actively request help in object-goal navigation tasks, with feedback indicating the location of the target object in its field of view. To make the agent more robust in scenarios…

Events in natural videos typically arise from spatio-temporal interactions between actors and objects and involve multiple co-occurring activities and object classes. To capture this rich visual and semantic context, we propose using two…

In this paper, we tackle the challenge of actively attending to visual scenes using a foveated sensor. We introduce an end-to-end differentiable foveated active vision architecture that leverages a graph convolutional network to process…

While Vision-Language Models (VLMs) are set to transform robotic navigation, existing methods often underutilize their reasoning capabilities. To unlock the full potential of VLMs in robotics, we shift their role from passive observers to…

Object Goal Navigation (ObjectNav) challenges robots to find objects in unseen environments, demanding sophisticated reasoning. While Vision-Language Models (VLMs) show potential, current ObjectNav methods often employ them superficially,…

In the context of visual navigation, the capacity to map a novel environment is necessary for an agent to exploit its observation history in the considered place and efficiently reach known goals. This ability can be associated with spatial…

In many real-world scenarios, an autonomous agent often encounters various tasks within a single complex environment. We propose to build a graph abstraction over the environment structure to accelerate the learning of these tasks. Here,…

Enabling robots to navigate open-world environments via natural language is critical for general-purpose autonomy. Yet, Vision-Language Navigation has relied on end-to-end policies trained on expensive, embodiment-specific robot data. While…

We train an agent to navigate in 3D environments using a hierarchical strategy including a high-level graph based planner and a local policy. Our main contribution is a data driven learning based approach for planning under uncertainty in…

Visual navigation policy is widely regarded as a promising direction, as it mimics humans by using egocentric visual observations for navigation. However, optical information of visual observations is difficult to be explicitly modeled like…

In this paper, we introduce a novel method to capture visual trajectories for navigating an indoor robot in dynamic settings using streaming image data. First, an image processing pipeline is proposed to accurately segment trajectories from…

Humans can routinely follow a trajectory defined by a list of images/landmarks. However, traditional robot navigation methods require accurate mapping of the environment, localization, and planning. Moreover, these methods are sensitive to…