相关论文: CON: Continual Object Navigation via Data-Free Int…

A typical assumption in state-of-the-art self-localization models is that an annotated training dataset is available in the target workspace. However, this does not always hold when a robot travels in a general open-world. This study…

Object-goal navigation requires mobile robots to efficiently locate targets with visual and spatial information, yet existing methods struggle with generalization in unseen environments. Heuristic approaches with naive metrics fail in…

This paper presents a reinforcement learning method for object goal navigation (ObjNav) where an agent navigates in 3D indoor environments to reach a target object based on long-term observations of objects and scenes. To this end, we…

Object goal navigation aims to navigate an agent to locations of a given object category in unseen environments. Classical methods explicitly build maps of environments and require extensive engineering while lacking semantic information…

In simultaneous localization and mapping, active loop closing (ALC) is an active vision problem that aims to visually guide a robot to maximize the chances of revisiting previously visited points, thereby resetting the drift errors…

Humans ability to transfer knowledge through teaching is one of the essential aspects for human intelligence. A human teacher can track the knowledge of students to customize the teaching on students needs. With the rise of online education…

We describe a robotic learning system for autonomous exploration and navigation in diverse, open-world environments. At the core of our method is a learned latent variable model of distances and actions, along with a non-parametric…

Humans can visualize new and unknown concepts from their natural language description, based on their experience and previous knowledge. Insipired by this, we present a way to extend this ability to Vision-Language Models (VLMs), teaching…

Recently, model-free reinforcement learning algorithms have been shown to solve challenging problems by learning from extensive interaction with the environment. A significant issue with transferring this success to the robotics domain is…

Recognising the characteristics of objects while a robot handles them is crucial for adjusting motions that ensure stable and efficient interactions with containers. Ahead of realising stable and efficient robot motions for…

Point goal navigation (PGN) is a mapless navigation approach that trains robots to visually navigate to goal points without relying on pre-built maps. Despite significant progress in handling complex environments using deep reinforcement…

Edge machine learning (Edge ML) enables training ML models using the vast data distributed across network edges. However, many existing approaches assume static models trained centrally and then deployed, making them ineffective against…

This paper studies the problem of continual learning in an open-world scenario, referred to as Open-world Continual Learning (OwCL). OwCL is increasingly rising while it is highly challenging in two-fold: i) learning a sequence of tasks…

Knowledge Transfer (KT) techniques tackle the problem of transferring the knowledge from a large and complex neural network into a smaller and faster one. However, existing KT methods are tailored towards classification tasks and they…

Continual learning (CL) learns a sequence of tasks incrementally with the goal of achieving two main objectives: overcoming catastrophic forgetting (CF) and encouraging knowledge transfer (KT) across tasks. However, most existing techniques…

We consider the problem of navigating a mobile robot towards a target in an unknown environment that is endowed with visual sensors, where neither the robot nor the sensors have access to global positioning information and only use…

Knowledge tracing (KT) aims to predict learners' future performance based on historical learning interactions. However, existing KT models predominantly focus on data from a single course, limiting their ability to capture a comprehensive…

This work studies the problem of object goal navigation which involves navigating to an instance of the given object category in unseen environments. End-to-end learning-based navigation methods struggle at this task as they are ineffective…

While machine learning approaches to visual recognition offer great promise, most of the existing methods rely heavily on the availability of large quantities of labeled training data. However, in the vast majority of real-world settings,…

[Context] Multi-agent reinforcement learning (MARL) has achieved notable success in environments where agents must learn coordinated behaviors. However, transferring knowledge across agents remains challenging in non-stationary environments…