相关论文: Vectorized Representation Dreamer (VRD): Dreaming-…

Human motion prediction, which aims to predict future human poses given past poses, has recently seen increased interest. Many recent approaches are based on Recurrent Neural Networks (RNN) which model human poses with exponential maps.…

Learning to control robots directly based on images is a primary challenge in robotics. However, many existing reinforcement learning approaches require iteratively obtaining millions of robot samples to learn a policy, which can take…

Visual Language Models (VLMs) achieve promising results in medical reasoning but struggle with hallucinations, vague descriptions, inconsistent logic and poor localization. To address this, we propose a agent framework named Medical Visual…

Autonomous drone racing in complex environments requires agile, high-speed flight while maintaining reliable obstacle avoidance. Differentiable-physics-based policy learning has recently demonstrated high sample efficiency and remarkable…

World models learn the consequences of actions in vision-based interactive systems. However, in practical scenarios like autonomous driving, noncontrollable dynamics that are independent or sparsely dependent on action signals often exist,…

Accurate prediction of surrounding road users' trajectories is essential for safe and efficient autonomous driving. While deep learning models have improved performance, challenges remain in preventing off-road predictions and ensuring…

In autonomous driving, predicting future events in advance and evaluating the foreseeable risks empowers autonomous vehicles to better plan their actions, enhancing safety and efficiency on the road. To this end, we propose Drive-WM, the…

Accurate trajectory prediction of nearby vehicles is crucial for the safe motion planning of automated vehicles in dynamic driving scenarios such as highway merging. Existing methods cannot initiate prediction for a vehicle unless observed…

Previous Vision-Language-Action models face critical limitations in navigation: scarce, diverse data from labor-intensive collection and static representations that fail to capture temporal dynamics and physical laws. We propose NavDreamer,…

Autonomous agile flight brings up fundamental challenges in robotics, such as coping with unreliable state estimation, reacting optimally to dynamically changing environments, and coupling perception and action in real time under severe…

To safely navigate intricate real-world scenarios, autonomous vehicles must be able to adapt to diverse road conditions and anticipate future events. World model (WM) based reinforcement learning (RL) has emerged as a promising approach by…

Visual Relationship Detection (VRD) impels a computer vision model to 'see' beyond an individual object instance and 'understand' how different objects in a scene are related. The traditional way of VRD is first to detect objects in an…

The primary goal of motion planning is to generate safe and efficient trajectories for vehicles. Traditionally, motion planning models are trained using imitation learning to mimic the behavior of human experts. However, these models often…

In this paper we propose MA-DV2F: Multi-Agent Dynamic Velocity Vector Field. It is a framework for simultaneously controlling a group of vehicles in challenging environments. DV2F is generated for each vehicle independently and provides a…

Predicting accurate future trajectories of multiple agents is essential for autonomous systems, but is challenging due to the complex agent interaction and the uncertainty in each agent's future behavior. Forecasting multi-agent…

We propose advances that address two key challenges in future trajectory prediction: (i) multimodality in both training data and predictions and (ii) constant time inference regardless of number of agents. Existing trajectory predictions…

Imitation Learning from monocular video demonstrations provides a scalable approach for teaching complex skills to humanoid robots. However, translating human motion to humanoids requires overcoming significant morphological mismatches.…

Generating safety-critical scenarios in high-fidelity simulations offers a promising and cost-effective approach for efficient testing of autonomous vehicles. Existing methods typically rely on manipulating a single vehicle's trajectory…

Vision-and-Language Navigation (VLN) tasks such as Room-to-Room (R2R) require machine agents to interpret natural language instructions and learn to act in visually realistic environments to achieve navigation goals. The overall task…

Collision-free navigation in cluttered environments with static and dynamic obstacles is essential for many multi-robot tasks. Dynamic obstacles may also be interactive, i.e., their behavior varies based on the behavior of other entities.…