相关论文: Hyp2Nav: Hyperbolic Planning and Curiosity for Cro…

Navigating in crowded environments requires the robot to be equipped with high-level reasoning and planning techniques. Existing works focus on developing complex and heavyweight planners while ignoring the role of human intelligence. Since…

Neuromorphic vision, inspired by biological neural systems, has recently gained significant attention for its potential in enhancing robotic autonomy. This paper presents a systematic exploration of a proposed Neuromorphic Navigation…

This paper aims to improve the path quality and computational efficiency of sampling-based kinodynamic planners for vehicular navigation. It proposes a learning framework for identifying promising controls during the expansion process of…

Hyperbolic geometry is gaining traction in machine learning for its effectiveness at capturing hierarchical structures in real-world data. Hyperbolic spaces, where neighborhoods grow exponentially, offer substantial advantages and…

A hyperbolic space has been shown to be more capable of modeling complex networks than a Euclidean space. This paper proposes an explicit update rule along geodesics in a hyperbolic space. The convergence of our algorithm is theoretically…

Collision-free, goal-directed navigation in environments containing unknown static and dynamic obstacles is still a great challenge, especially when manual tuning of navigation policies or costly motion prediction needs to be avoided. In…

In this paper, we propose a novel Deep Reinforcement Learning approach to address the mapless navigation problem, in which the locomotion actions of a humanoid robot are taken online based on the knowledge encoded in learned models.…

Recently, a number of learning-based models have been proposed for multi-robot navigation. However, these models lack memory and only rely on the current observations of the robot to plan their actions. They are unable to leverage past…

Robotic navigation concerns the task in which a robot should be able to find a safe and feasible path and traverse between two points in a complex environment. We approach the problem of robotic navigation using reinforcement learning and…

Path planning and collision avoidance are challenging in complex and highly variable environments due to the limited horizon of events. In literature, there are multiple model- and learning-based approaches that require significant…

Hyperbolic spaces, which have the capacity to embed tree structures without distortion owing to their exponential volume growth, have recently been applied to machine learning to better capture the hierarchical nature of data. In this…

In heterogeneous graphs, we can observe complex structures such as tree-like or hierarchical structures. Recently, the hyperbolic space has been widely adopted in many studies to effectively learn these complex structures. Although these…

To perform tasks well in a new domain, one must first know something about it. This paper reports on a robot controller for navigation through unfamiliar indoor worlds. Based on spatial affordances, it integrates planning with reactive…

We aim to enable a mobile robot to navigate through environments with dense crowds, e.g., shopping malls, canteens, train stations, or airport terminals. In these challenging environments, existing approaches suffer from two common…

Enhancing the spatial perception capabilities of mobile robots is crucial for achieving embodied Vision-and-Language Navigation (VLN). Although significant progress has been made in simulated environments, directly transferring these…

Mobile robots have become more and more popular in large-scale and crowded environments, such as airports, shopping malls, etc. However, due to sparse landmarks and crowd noise, localization in this environment is a great challenge.…

Knowledge graph embeddings (KGE) have been validated as powerful methods for inferring missing links in knowledge graphs (KGs) that they typically map entities into Euclidean space and treat relations as transformations of entities.…

The study of human mobility is crucial due to its impact on several aspects of our society, such as disease spreading, urban planning, well-being, pollution, and more. The proliferation of digital mobility data, such as phone records, GPS…

Hyperbolic space and hyperbolic embeddings are becoming a popular research field for recommender systems. However, it is not clear under what circumstances the hyperbolic space should be considered. To fill this gap, This paper provides…

Embodied navigation that adheres to social norms remains an open research challenge. Our SocialNav is a foundational model for socially-aware navigation with a hierarchical "brain-action" architecture, capable of understanding high-level…