相关论文: GOMAA-Geo: GOal Modality Agnostic Active Geo-local…

Specifying robotic manipulation tasks in a manner that is both expressive and precise remains a central challenge. While visual goals provide a compact and unambiguous task specification, existing goal-conditioned policies often struggle…

Multi-modal learning has emerged as a key technique for improving performance across domains such as autonomous driving, robotics, and reasoning. However, in certain scenarios, particularly in resource-constrained environments, some…

Object goal navigation is an important problem in Embodied AI that involves guiding the agent to navigate to an instance of the object category in an unknown environment -- typically an indoor scene. Unfortunately, current state-of-the-art…

Zero-shot action recognition requires a strong ability to generalize from pre-training and seen classes to novel unseen classes. Similarly, continual learning aims to develop models that can generalize effectively and learn new tasks…

Generative Adversarial Imitation Learning (GAIL) can learn policies without explicitly defining the reward function from demonstrations. GAIL has the potential to learn policies with high-dimensional observations as input, e.g., images. By…

Object Goal Navigation-requiring an agent to locate a specific object in an unseen environment-remains a core challenge in embodied AI. Although recent progress in Vision-Language Model (VLM)-based agents has demonstrated promising…

This paper introduces a novel Multi-Agent Cooperative Learning (MACL) framework to address cross-modal alignment collapse in vision-language models when handling out-of-distribution (OOD) concepts. Four core agents, including image, text,…

Large Multimodal Models (LMMs) have achieved remarkable success in visual understanding, yet they struggle with knowledge-intensive queries involving long-tail entities or evolving information due to static parametric knowledge. Recent…

We propose a framework for Google Map aided UAV navigation in GPS-denied environment. Geo-referenced navigation provides drift-free localization and does not require loop closures. The UAV position is initialized via correlation, which is…

Unsupervised Domain Adaptation has been an efficient approach to transferring the semantic segmentation model across data distributions. Meanwhile, the recent Open-vocabulary Semantic Scene understanding based on large-scale vision language…

The paper focuses on the problem of vision-based obstacle detection and tracking for unmanned aerial vehicle navigation. A real-time object localization and tracking strategy from monocular image sequences is developed by effectively…

Active learning (AL) for real-world object detection faces computational and reliability challenges that limit practical deployment. Developing new AL methods requires training multiple detectors across iterations to compare against…

This paper presents a general purpose framework for autonomous, vision-based interception of dynamic, non-cooperative targets, validated across three distinct mobility platforms: an unmanned aerial vehicle (UAV), a four-wheeled ground…

Recent advances in geometric foundation models have emerged as a promising alternative for addressing the challenge of dense reconstruction in monocular visual simultaneous localization and mapping (SLAM). Although geometric foundation…

Cross-view geolocalization, a supplement or replacement for GPS, localizes an agent within a search area by matching images taken from a ground-view camera to overhead images taken from satellites or aircraft. Although the viewpoint…

As a crucial extension of entity alignment (EA), multi-modal entity alignment (MMEA) aims to identify identical entities across disparate knowledge graphs (KGs) by exploiting associated visual information. However, existing MMEA approaches…

Visual event perception tasks such as action localization have primarily focused on supervised learning settings under a static observer, i.e., the camera is static and cannot be controlled by an algorithm. They are often restricted by the…

We present GRL-SNAM, a geometric reinforcement learning framework for Simultaneous Navigation and Mapping(SNAM) in unknown environments. A SNAM problem is challenging as it needs to design hierarchical or joint policies of multiple agents…

Approaches for teaching learning agents via human demonstrations have been widely studied and successfully applied to multiple domains. However, the majority of imitation learning work utilizes only behavioral information from the…

Robust geo-localization in changing environmental conditions is critical for long-term aerial autonomy. While visual place recognition (VPR) models perform well when airborne views match the training domain, adapting them to shifting…