相关论文: Hierarchical end-to-end autonomous navigation thro…

We present a novel approach for image-goal navigation, where an agent navigates with a goal image rather than accurate target information, which is more challenging. Our goal is to decouple the learning of navigation goal planning,…

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…

Despite decades of efforts, robot navigation in a real scenario with volatility, uncertainty, complexity, and ambiguity (VUCA for short), remains a challenging topic. Inspired by the central nervous system (CNS), we propose a hierarchical…

Multimodal few-shot learning is challenging due to the large domain gap between vision and language modalities. Existing methods are trying to communicate visual concepts as prompts to frozen language models, but rely on hand-engineered…

Image-goal navigation steers an agent to a target location specified by an image in unseen environments. Existing methods primarily handle this task by learning an end-to-end navigation policy, which compares the similarities of target and…

In recent years, considerable progress has been made towards a vehicle's ability to operate autonomously. An end-to-end approach attempts to achieve autonomous driving using a single, comprehensive software component. Recent breakthroughs…

Finding an object of a specific class in an unseen environment remains an unsolved navigation problem. Hence, we propose a hierarchical learning-based method for object navigation. The top-level is capable of high-level planning, and…

Accurate localization is a fundamental requirement for autonomous robots operating in indoor environments. Scene graphs encode the spatial structure of an environment as a hierarchy of semantic entities and their relationships, and can be…

Assisting humans in open-world outdoor environments requires robots to translate high-level natural-language intentions into safe, long-horizon, and socially compliant navigation behavior. Existing map-based methods rely on costly pre-built…

Imitation learning for end-to-end autonomous driving has drawn attention from academic communities. Current methods either only use images as the input which is ambiguous when a car approaches an intersection, or use additional command…

We aim to bridge the gap between typical human and machine-learning environments by extending the standard framework of few-shot learning to an online, continual setting. In this setting, episodes do not have separate training and testing…

Mobile robotics is a research area that has witnessed incredible advances for the last decades. Robot navigation is an essential task for mobile robots. Many methods are proposed for allowing robots to navigate within different…

Space exploration missions have seen use of increasingly sophisticated robotic systems with ever more autonomy. Deep learning promises to take this even a step further, and has applications for high-level tasks, like path planning, as well…

Due to burdensome data requirements, learning from demonstration often falls short of its promise to allow users to quickly and naturally program robots. Demonstrations are inherently ambiguous and incomplete, making correct generalization…

Few-Shot Learning is the challenge of training a model with only a small amount of data. Many solutions to this problem use meta-learning algorithms, i.e. algorithms that learn to learn. By sampling few-shot tasks from a larger dataset, we…

Reinforcement learning and planning methods require an objective or reward function that encodes the desired behavior. Yet, in practice, there is a wide range of scenarios where an objective is difficult to provide programmatically, such as…

Existing object-search approaches enable robots to search through free pathways, however, robots operating in unstructured human-centered environments frequently also have to manipulate the environment to their needs. In this work, we…

Navigating through unstructured environments is a basic capability of intelligent creatures, and thus is of fundamental interest in the study and development of artificial intelligence. Long-range navigation is a complex cognitive task that…

To address the annotation scarcity issue in some cases of semantic segmentation, there have been a few attempts to develop the segmentation model in the few-shot learning paradigm. However, most existing methods only focus on the…

Autonomous agents interacting with the real world need to learn new concepts efficiently and reliably. This requires learning in a low-data regime, which is a highly challenging problem. We address this task by introducing a fast…