相关论文: Diffusion as Reasoning: Enhancing Object Navigatio…

Object-centric learning aims to decompose an input image into a set of meaningful object files (slots). These latent object representations enable a variety of downstream tasks. Yet, object-centric learning struggles on real-world datasets,…

Object Navigation (ObjectNav) has made great progress with large language models (LLMs), but still faces challenges in memory management, especially in long-horizon tasks and dynamic scenes. To address this, we propose TopoNav, a new…

Designing realistic multi-object scenes requires not only generating images, but also planning spatial layouts that respect semantic relations and physical plausibility. On one hand, while recent advances in diffusion models have enabled…

Efficiently predicting motion plans directly from vision remains a fundamental challenge in robotics, where planning typically requires explicit goal specification and task-specific design. Recent vision-language-action (VLA) models infer…

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…

We present a novel perspective on goal-conditioned reinforcement learning by framing it within the context of denoising diffusion models. Analogous to the diffusion process, where Gaussian noise is used to create random trajectories that…

Can the intrinsic relation between an object and the room in which it is usually located help agents in the Visual Navigation Task? We study this question in the context of Object Navigation, a problem in which an agent has to reach an…

Recent open-vocabulary robot mapping methods enrich dense geometric maps with pre-trained visual-language features, achieving a high level of detail and guiding robots to find objects specified by open-vocabulary language queries. While the…

Robots in the real world need to perceive and move to goals in complex environments without collisions. Avoiding collisions is especially difficult when relying on sensor perception and when goals are among clutter. Diffusion policies and…

Autonomous robot exploration requires a robot to efficiently explore and map unknown environments. Compared to conventional methods that can only optimize paths based on the current robot belief, learning-based methods show the potential to…

Recently, diffusion model shines as a promising backbone for the sequence modeling paradigm in offline reinforcement learning(RL). However, these works mostly lack the generalization ability across tasks with reward or dynamics change. To…

We present Prompt Diffusion, a framework for enabling in-context learning in diffusion-based generative models. Given a pair of task-specific example images, such as depth from/to image and scribble from/to image, and a text guidance, our…

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…

In this paper, we address the problem of plausible object placement for the challenging task of realistic image composition. We propose DiffPop, the first framework that utilizes plausibility-guided denoising diffusion probabilistic model…

We study zero-shot instance navigation, in which the agent navigates to a specific object without using object annotations for training. Previous object navigation approaches apply the image-goal navigation (ImageNav) task (go to the…

Seamlessly moving objects within a scene is a common requirement for image editing, but it is still a challenge for existing editing methods. Especially for real-world images, the occlusion situation further increases the difficulty. The…

Semantic segmentation and change detection are two fundamental challenges in remote sensing, requiring models to capture either spatial semantics or temporal differences from satellite imagery. Existing deep learning models often struggle…

Visual navigation is a fundamental capability for autonomous home-assistance robots, enabling long-horizon tasks such as object search. While recent methods have leveraged Large Language Models (LLMs) to incorporate commonsense reasoning…

Constructing high-definition (HD) maps is a crucial requirement for enabling autonomous driving. In recent years, several map segmentation algorithms have been developed to address this need, leveraging advancements in Bird's-Eye View (BEV)…

Task planning for embodied AI has been one of the most challenging problems where the community does not meet a consensus in terms of formulation. In this paper, we aim to tackle this problem with a unified framework consisting of an…