相关论文: Sim2Real Transfer for Audio-Visual Navigation with…

Vision and learning have made significant progress that could improve robotics policies for complex tasks and environments. Learning deep neural networks for image understanding, however, requires large amounts of domain-specific visual…

The main challenge in learning image-conditioned robotic policies is acquiring a visual representation conducive to low-level control. Due to the high dimensionality of the image space, learning a good visual representation requires a…

We present a system for applying sim2real approaches to "in the wild" scenes with realistic visuals, and to policies which rely on active perception using RGB cameras. Given a short video of a static scene collected using a generic phone,…

Recent years have witnessed significant progress in autonomous navigation using reinforcement learning. However, existing approaches largely emphasize reinforcement learning framework design, such as input representations, action spaces,…

Sim-to-real transfer is a fundamental challenge in robot reinforcement learning. Discrepancies between simulation and reality can significantly impair policy performance, especially if it receives high-dimensional inputs such as dense depth…

Achieving robust vision-based humanoid locomotion remains challenging due to two fundamental issues: the sim-to-real gap introduces significant perception noise that degrades performance on fine-grained tasks, and training a unified policy…

Visual navigation by mobile robots is classically tackled through SLAM plus optimal planning, and more recently through end-to-end training of policies implemented as deep networks. While the former are often limited to waypoint planning,…

Does progress in simulation translate to progress on robots? If one method outperforms another in simulation, how likely is that trend to hold in reality on a robot? We examine this question for embodied PointGoal navigation, developing…

Recent work on audio-visual navigation targets a single static sound in noise-free audio environments and struggles to generalize to unheard sounds. We introduce the novel dynamic audio-visual navigation benchmark in which an embodied AI…

We introduce SoundSpaces 2.0, a platform for on-the-fly geometry-based audio rendering for 3D environments. Given a 3D mesh of a real-world environment, SoundSpaces can generate highly realistic acoustics for arbitrary sounds captured from…

Previous acoustic transfer methods rely on extensive precomputation and storage of data to enable real-time interaction and auditory feedback. However, these methods struggle with complex scenes, especially when dynamic changes in object…

We study the challenging problem of releasing a robot in a previously unseen environment, and having it follow unconstrained natural language navigation instructions. Recent work on the task of Vision-and-Language Navigation (VLN) has…

In Audio-Visual Navigation (AVN), agents must locate sound sources in unseen 3D environments using visual and auditory cues. However, existing methods often struggle with generalization in unseen scenarios, as they tend to overfit to…

In audio-visual navigation (AVN) tasks, an embodied agent must autonomously localize a sound source in unknown and complex 3D environments based on audio-visual signals. Existing methods often rely on static modality fusion strategies and…

Audio-visual navigation task requires an agent to find a sound source in a realistic, unmapped 3D environment by utilizing egocentric audio-visual observations. Existing audio-visual navigation works assume a clean environment that solely…

What is a good visual representation for autonomous agents? We address this question in the context of semantic visual navigation, which is the problem of a robot finding its way through a complex environment to a target object, e.g. go to…

Audio-visual navigation tasks require agents to locate and navigate toward continuously vocalizing targets using only visual observations and acoustic cues. However, existing methods mainly rely on simple feature concatenation or late…

Audio-visual navigation enables embodied agents to navigate toward sound-emitting targets by leveraging both auditory and visual cues. However, most existing approaches rely on precomputed room impulse responses (RIRs) for binaural audio…

In the context of autonomous navigation, effectively conveying abstract navigational cues to agents in dynamic environments presents significant challenges, particularly when navigation information is derived from diverse modalities such as…

We propose a light-weight, self-supervised adaptation for a visual navigation agent to generalize to unseen environment. Given an embodied agent trained in a noiseless environment, our objective is to transfer the agent to a noisy…