相关论文: VANP: Learning Where to See for Navigation with Se…

The understanding of where humans look in a scene is a problem of great interest in visual perception and computer vision. When eye-tracking devices are not a viable option, models of human attention can be used to predict fixations. In…

Existing vision-and-language navigation (VLN) models primarily reason over past and current visual observations, while largely ignoring the future visual dynamics induced by actions. As a result, they often lack an effective understanding…

Robot navigation is a task where reinforcement learning approaches are still unable to compete with traditional path planning. State-of-the-art methods differ in small ways, and do not all provide reproducible, openly available…

Vision-and-Language Navigation (VLN) is the task that requires an agent to navigate through the environment based on natural language instructions. At each step, the agent takes the next action by selecting from a set of navigable…

Goal-driven mobile robot navigation in map-less environments requires effective state representations for reliable decision-making. Inspired by the favorable properties of Bird's-Eye View (BEV) in point clouds for visual perception, this…

Visual navigation in unknown environments based solely on natural language descriptions is a key capability for intelligent robots. In this work, we propose a navigation framework built upon off-the-shelf Visual Language Models (VLMs),…

Core to the vision-and-language navigation (VLN) challenge is building robust instruction representations and action decoding schemes, which can generalize well to previously unseen instructions and environments. In this paper, we report…

Unsupervised learning from visual data is one of the most difficult challenges in computer vision, being a fundamental task for understanding how visual recognition works. From a practical point of view, learning from unsupervised visual…

In order to explore robotic grasping in unstructured and dynamic environments, this work addresses the visual perception phase involved in the task. This phase involves the processing of visual data to obtain the location of the object to…

In vision-and-language navigation (VLN), an embodied agent is required to navigate in realistic 3D environments following natural language instructions. One major bottleneck for existing VLN approaches is the lack of sufficient training…

Vision-and-Language Navigation (VLN) is a challenging task that requires a robot to navigate in photo-realistic environments with human natural language promptings. Recent studies aim to handle this task by constructing the semantic spatial…

One powerful paradigm in visual navigation is to predict actions from observations directly. Training such an end-to-end system allows representations useful for downstream tasks to emerge automatically. However, the lack of inductive bias…

Being able to perceive the semantics and the spatial structure of the environment is essential for visual navigation of a household robot. However, most existing works only employ visual backbones pre-trained either with independent images…

The Visual-and-Language Navigation (VLN) task requires understanding a textual instruction to navigate a natural indoor environment using only visual information. While this is a trivial task for most humans, it is still an open problem for…

Human-centric visual perception (HVP) has recently achieved remarkable progress due to advancements in large-scale self-supervised pretraining (SSP). However, existing HVP models face limitations in adapting to real-world applications,…

Recent advances in supervised salient object detection has resulted in significant performance on benchmark datasets. Training such models, however, requires expensive pixel-wise annotations of salient objects. Moreover, many existing…

This paper aims to briefly survey deep learning methods for visual navigation of underwater robotics. The scope of this paper includes the visual perception of underwater robotics with deep learning methods, the available visual underwater…

Visual navigation for autonomous agents is a core task in the fields of computer vision and robotics. Learning-based methods, such as deep reinforcement learning, have the potential to outperform the classical solutions developed for this…

Modern computer vision is converging on a closed loop in which perception, reasoning and generation mutually reinforce each other. However, this loop remains incomplete: the top-down influence of high-level reasoning on the foundational…

Various stuff and things in visual data possess specific traits, which can be learned by deep neural networks and are implicitly represented as the visual prior, e.g., object location and shape, in the model. Such prior potentially impacts…