相关论文: PACER: Preference-conditioned All-terrain Costmap …

The learning order of semantic classes significantly impacts unsupervised domain adaptation for semantic segmentation, especially under adverse weather conditions. Most existing curricula rely on handcrafted heuristics (e.g., fixed…

We consider the problem of object goal navigation in unseen environments. Solving this problem requires learning of contextual semantic priors, a challenging endeavour given the spatial and semantic variability of indoor environments.…

Grounded understanding of natural language in physical scenes can greatly benefit robots that follow human instructions. In object manipulation scenarios, existing end-to-end models are proficient at understanding semantic concepts, but…

There is a growing interest in developing automated agents that can work alongside humans. In addition to completing the assigned task, such an agent will undoubtedly be expected to behave in a manner that is preferred by the human. This…

We propose a novel receding horizon planner for an autonomous surface vehicle (ASV) performing path planning in urban waterways. Feasible paths are found by repeatedly generating and searching a graph reflecting the obstacles observed in…

Several recent works show impressive results in mapping language-based human commands and image scene observations to direct robot executable policies (e.g., pick and place poses). However, these approaches do not consider the uncertainty…

Service robots are increasingly deployed in diverse and dynamic environments, where both physical layouts and social contexts change over time and across locations. In these unstructured settings, conventional navigation systems that rely…

Traditional imitation learning provides a set of methods and algorithms to learn a reward function or policy from expert demonstrations. Learning from demonstration has been shown to be advantageous for navigation tasks as it allows for…

Preference-aligned robot navigation in human environments is typically achieved through learning-based approaches, utilizing user feedback or demonstrations for personalization. However, personal preferences are subject to change and might…

In robotics, ensuring that autonomous systems are comprehensible and accountable to users is essential for effective human-robot interaction. This paper introduces a novel approach that integrates user-centered design principles directly…

Rovers require knowledge of terrain to plan trajectories that maximize safety and efficiency. Terrain type classification relies on input from human operators or machine learning-based image classification algorithms. However, high level…

An autonomous robot should be able to evaluate the affordances that are offered by a given situation. Here we address this problem by designing a system that can densely predict affordances given only a single 2D RGB image. This is achieved…

Cost-sensitive learning is a common type of machine learning problem where different errors of prediction incur different costs. In this paper, we design a generic nonparametric active learning algorithm for cost-sensitive classification.…

The goal of recommender systems is to provide ordered item lists to users that best match their interests. As a critical task in the recommendation pipeline, re-ranking has received increasing attention in recent years. In contrast to…

Learning latent costs of transitions on graphs from trajectories demonstrations under various contextual features is challenging but useful for path planning. Yet, existing methods either oversimplify cost assumptions or scale poorly with…

This paper proposes a novel control method for an autonomous wheel loader, enabling time-efficient navigation to an arbitrary goal pose. Unlike prior works which combine high-level trajectory planners with Model Predictive Control (MPC), we…

With the rapidly expanding landscape of large language models, aligning model generations with human values and preferences is becoming increasingly important. Popular alignment methods, such as Reinforcement Learning from Human Feedback,…

For effective real-world deployment, robots should adapt to human preferences, such as balancing distance, time, and safety in delivery routing. Active preference learning (APL) learns human reward functions by presenting trajectories for…

Reasoning about object affordances allows an autonomous agent to perform generalised manipulation tasks among object instances. While current approaches to grasp affordance estimation are effective, they are limited to a single hypothesis.…

In this paper, we explore a novel image matting task aimed at achieving efficient inference under various computational cost constraints, specifically FLOP limitations, using a single matting network. Existing matting methods which have not…