相关论文: TDANet: Target-Directed Attention Network For Obje…

Embodied artificial intelligence (AI) tasks shift from tasks focusing on internet images to active settings involving embodied agents that perceive and act within 3D environments. In this paper, we investigate the target-driven visual…

Object goal navigation aims to steer an agent towards a target object based on observations of the agent. It is of pivotal importance to design effective visual representations of the observed scene in determining navigation actions. In…

Object goal visual navigation is a challenging task that aims to guide a robot to find the target object based on its visual observation, and the target is limited to the classes pre-defined in the training stage. However, in real…

Visual navigation is essential for many applications in robotics, from manipulation, through mobile robotics to automated driving. Deep reinforcement learning (DRL) provides an elegant map-free approach integrating image processing,…

Simulation-to-simulation and simulation-to-real world transfer of neural network models have been a difficult problem. To close the reality gap, prior methods to simulation-to-real world transfer focused on domain adaptation, decoupling…

Understanding and following directions provided by humans can enable robots to navigate effectively in unknown situations. We present FollowNet, an end-to-end differentiable neural architecture for learning multi-modal navigation policies.…

This paper investigates the zero-shot object goal visual navigation problem. In the object goal visual navigation task, the agent needs to locate navigation targets from its egocentric visual input. "Zero-shot" means that the target the…

Deep reinforcement learning (DRL) demonstrates its potential in learning a model-free navigation policy for robot visual navigation. However, the data-demanding algorithm relies on a large number of navigation trajectories in training.…

Deep reinforcement learning (RL) has been successfully applied to a variety of game-like environments. However, the application of deep RL to visual navigation with realistic environments is a challenging task. We propose a novel learning…

Autonomous visual navigation is an essential element in robot autonomy. Reinforcement learning (RL) offers a promising policy training paradigm. However existing RL methods suffer from high sample complexity, poor sim-to-real transfer, and…

Machine learning techniques have outperformed numerous rule-based methods for decision-making in autonomous vehicles. Despite recent efforts, lane changing remains a major challenge, due to the complex driving scenarios and changeable…

Two less addressed issues of deep reinforcement learning are (1) lack of generalization capability to new target goals, and (2) data inefficiency i.e., the model requires several (and often costly) episodes of trial and error to converge,…

We solve active target tracking, one of the essential tasks in autonomous systems, using a deep reinforcement learning (RL) approach. In this problem, an autonomous agent is tasked with acquiring information about targets of interests using…

Deep reinforcement learning (DRL) methods have demonstrated potential for autonomous navigation and obstacle avoidance of unmanned ground vehicles (UGVs) in crowded environments. Most existing approaches rely on single-frame observation and…

In the context of human-robot interaction and collaboration scenarios, robotic grasping still encounters numerous challenges. Traditional grasp detection methods generally analyze the entire scene to predict grasps, leading to redundancy…

This paper proposes an end-to-end deep reinforcement learning approach for mobile robot navigation with dynamic obstacles avoidance. Using experience collected in a simulation environment, a convolutional neural network (CNN) is trained to…

Deep reinforcement learning (DRL) has been proven to be a powerful paradigm for learning complex control policy autonomously. Numerous recent applications of DRL in robotic grasping have successfully trained DRL robotic agents end-to-end,…

Despite some successful applications of goal-driven navigation, existing deep reinforcement learning (DRL)-based approaches notoriously suffers from poor data efficiency issue. One of the reasons is that the goal information is decoupled…

Humans' innate ability to decompose scenes into objects allows for efficient understanding, predicting, and planning. In light of this, Object-Centric Learning (OCL) attempts to endow networks with similar capabilities, learning to…

Image-goal navigation (ImageNav) tasks a robot with autonomously exploring an unknown environment and reaching a location that visually matches a given target image. While prior works primarily study ImageNav for ground robots, enabling…