相关论文: SCALE: Self-Correcting Visual Navigation for Mobil…
The study of vision-and-language navigation (VLN) has typically relied on expert trajectories, which may not always be available in real-world situations due to the significant effort required to collect them. On the other hand, existing…
Visual robot self-localization is a fundamental problem in visual robot navigation and has been studied across various problem settings, including monocular and sequential localization. However, many existing studies focus primarily on…
Some of the threats in the dynamic environment include the unpredictability of the motion of objects and interferences to the robotic grasp. In such conditions the traditional supervised and reinforcement learning approaches are ill suited…
To detect anomalies in real-world graphs, such as social, email, and financial networks, various approaches have been developed. While they typically assume static input graphs, most real-world graphs grow over time, naturally represented…
Out-of-distribution (OOD) detection is crucial for deploying reliable machine learning models in open-world applications. Recent advances in CLIP-based OOD detection have shown promising results via regularizing prompt tuning with OOD…
This paper provides a review of deep learning applications in scene understanding in autonomous robots, including innovations in object detection, semantic and instance segmentation, depth estimation, 3D reconstruction, and visual SLAM. It…
Mobile robots in unstructured, mapless environments must rely on an obstacle avoidance module to navigate safely. The standard avoidance techniques estimate the locations of obstacles with respect to the robot but are unaware of the…
In autonomous navigation of mobile robots, sensors suffer from massive occlusion in cluttered environments, leaving significant amount of space unknown during planning. In practice, treating the unknown space in optimistic or pessimistic…
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…
Zero-shot skeleton-based action recognition (ZSAR) aims to recognize action classes without any training skeletons from those classes, relying instead on auxiliary semantics from text. Existing approaches frequently depend on explicit…
Active Simultaneous Localisation and Mapping (SLAM) is a critical problem in autonomous robotics, enabling robots to navigate to new regions while building an accurate model of their surroundings. Visual SLAM is a popular technique that…
For the safe and successful navigation of autonomous vehicles in unstructured environments, the traversability of terrain should vary based on the driving capabilities of the vehicles. Actual driving experience can be utilized in a…
Distance-based reward mechanisms in deep reinforcement learning (DRL) navigation systems suffer from critical safety limitations in dynamic environments, frequently resulting in collisions when visibility is restricted. We propose DRL-NSUO,…
Simultaneous localization and mapping (SLAM) remains challenging for a number of downstream applications, such as visual robot navigation, because of rapid turns, featureless walls, and poor camera quality. We introduce the Differentiable…
This article presents a family of Stochastic Cartographic Occupancy Prediction Engines (SCOPEs) that enable mobile robots to predict the future states of complex dynamic environments. They do this by accounting for the motion of the robot…
We propose a self-supervised learning framework that uses unlabeled monocular video sequences to generate large-scale supervision for training a Visual Odometry (VO) frontend, a network which computes pointwise data associations across…
We consider the problem of learning useful robotic skills from previously collected offline data without access to manually specified rewards or additional online exploration, a setting that is becoming increasingly important for scaling…
Object manipulation is a critical skill required for Embodied AI agents interacting with the world around them. Training agents to manipulate objects, poses many challenges. These include occlusion of the target object by the agent's arm,…
Self-supervised learning (SSL) has emerged as a powerful technique for learning visual representations. While recent SSL approaches achieve strong results in global image understanding, they are limited in capturing the structured…
Modern astronomical experiments are designed to achieve multiple scientific goals, from studies of galaxy evolution to cosmic acceleration. These goals require data of many different classes of night-sky objects, each of which has a…