相关论文: NOLO: Navigate Only Look Once

While imitation learning for vision based autonomous mobile robot navigation has recently received a great deal of attention in the research community, existing approaches typically require state action demonstrations that were gathered…

The world is filled with a wide variety of objects. For robots to be useful, they need the ability to find arbitrary objects described by people. In this paper, we present LeLaN(Learning Language-conditioned Navigation policy), a novel…

Learning to navigate in a visual environment following natural language instructions is a challenging task because natural language instructions are highly variable, ambiguous, and under-specified. In this paper, we present a novel training…

Model-free reinforcement learning has recently been shown to be effective at learning navigation policies from complex image input. However, these algorithms tend to require large amounts of interaction with the environment, which can be…

Learning visuomotor control policies in robotic systems is a fundamental problem when aiming for long-term behavioral autonomy. Recent supervised-learning-based vision and motion perception systems, however, are often separately built with…

Target-driven visual navigation is a challenging problem that requires a robot to find the goal using only visual inputs. Many researchers have demonstrated promising results using deep reinforcement learning (deep RL) on various robotic…

Pre-training large models on vast amounts of web data has proven to be an effective approach for obtaining powerful, general models in domains such as language and vision. However, this paradigm has not yet taken hold in reinforcement…

Offline reinforcement learning (RL) seeks to learn optimal policies from static datasets without interacting with the environment. A common challenge is handling multi-modal action distributions, where multiple behaviours are represented in…

Offline reinforcement learning provides a viable approach to obtain advanced control strategies for dynamical systems, in particular when direct interaction with the environment is not available. In this paper, we introduce a conceptual…

Learning from visual observation (LfVO), aiming at recovering policies from only visual observation data, is promising yet a challenging problem. Existing LfVO approaches either only adopt inefficient online learning schemes or require…

We propose a learning-based navigation system for reaching visually indicated goals and demonstrate this system on a real mobile robot platform. Learning provides an appealing alternative to conventional methods for robotic navigation:…

We study a new paradigm for sequential decision making, called offline policy learning from observations (PLfO). Offline PLfO aims to learn policies using datasets with substandard qualities: 1) only a subset of trajectories is labeled with…

Visual navigation tasks in real-world environments often require both self-motion and place recognition feedback. While deep reinforcement learning has shown success in solving these perception and decision-making problems in an end-to-end…

Robotic learning for navigation in unfamiliar environments needs to provide policies for both task-oriented navigation (i.e., reaching a goal that the robot has located), and task-agnostic exploration (i.e., searching for a goal in a novel…

We study the problem of learning a navigation policy for a robot to actively search for an object of interest in an indoor environment solely from its visual inputs. While scene-driven visual navigation has been widely studied, prior…

Moving in dynamic pedestrian environments is one of the important requirements for autonomous mobile robots. We present a model-based reinforcement learning approach for robots to navigate through crowded environments. The navigation policy…

Navigating fluently around pedestrians is a necessary capability for mobile robots deployed in human environments, such as buildings and homes. While research on social navigation has focused mainly on the scalability with the number of…

Most prior methods for learning navigation policies require access to simulation environments, as they need online policy interaction and rely on ground-truth maps for rewards. However, building simulators is expensive (requires manual…

Learning robust navigation policies remains a core challenge in robotics. Offline imitation learning suffers from distribution shift and compounding errors at rollout, while reinforcement learning requires reward engineering and learns…

Offline reinforcement learning aims to train a policy on a pre-recorded and fixed dataset without any additional environment interactions. There are two major challenges in this setting: (1) extrapolation error caused by approximating the…