相关论文: X-MOBILITY: End-To-End Generalizable Navigation vi…

Diffusion models have been successfully applied to robotics problems such as manipulation and vehicle path planning. In this work, we explore their application to end-to-end navigation -- including both perception and planning -- by…

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…

Enabling embodied agents to imagine future states is essential for robust and generalizable visual navigation. Yet, state-of-the-art systems typically rely on modular designs that decouple navigation planning from visual world modeling,…

Building a generalist agent that can interact with the world is the intriguing target of AI systems, thus spurring the research for embodied navigation, where an agent is required to navigate according to instructions or respond to queries.…

World models, which are predictive representations of how environments evolve under actions, have become a central component of robot learning. They support policy learning, planning, simulation, evaluation, data generation, and have…

Learning robust and generalizable world models is crucial for enabling efficient and scalable robotic control in real-world environments. In this work, we introduce a novel framework for learning world models that accurately capture…

Effectively handling the interplay between spatial perception and action generation remains a critical bottleneck in robotic manipulation. Existing methods typically treat spatial perception and action execution as decoupled or strictly…

Reinforcement learning-based policies for continuous control robotic navigation tasks often fail to adapt to changes in the environment during real-time deployment, which may result in catastrophic failures. To address this limitation, we…

Visual target navigation in unknown environments is a crucial problem in robotics. Despite extensive investigation of classical and learning-based approaches in the past, robots lack common-sense knowledge about household objects and…

The common approach for local navigation on challenging environments with legged robots requires path planning, path following and locomotion, which usually requires a locomotion control policy that accurately tracks a commanded velocity.…

Navigation foundation models trained on massive webscale data enable agents to generalize across diverse environments and embodiments. However, these models trained solely on offline data, often lack the capacity to reason about the…

Goal-conditioned policies for robotic navigation can be trained on large, unannotated datasets, providing for good generalization to real-world settings. However, particularly in vision-based settings where specifying goals requires an…

Visual perception and navigation have emerged as major focus areas in the field of embodied artificial intelligence. We consider the task of image-goal navigation, where an agent is tasked to navigate to a goal specified by an image,…

Learning effective visuomotor policies for robots purely from data is challenging, but also appealing since a learning-based system should not require manual tuning or calibration. In the case of a robot operating in a real environment the…

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…

While recent advances have demonstrated strong performance in individual humanoid skills such as upright locomotion, fall recovery and whole-body coordination, learning a single policy that masters all these skills remains challenging due…

World model-based searching and planning are widely recognized as a promising path toward human-level physical intelligence. However, current driving world models primarily rely on video diffusion models, which specialize in visual…

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.…

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…

Most autonomous navigation systems assume wheeled robots are rigid bodies and their 2D planar workspaces can be divided into free spaces and obstacles. However, recent wheeled mobility research, showing that wheeled platforms have the…