相关论文: Enhancing Exploratory Capability of Visual Navigat…

With the growing computational power available for high-resolution ensemble simulations in scientific fields such as cosmology and oceanology, storage and computational demands present significant challenges. Current surrogate models fall…

Visual navigation is a fundamental problem in embodied AI, yet practical deployments demand long-horizon planning capabilities to address multi-objective tasks. A major bottleneck is data scarcity: policies learned from limited data often…

In recent years, Neural Radiance Fields (NeRF) have emerged as a powerful tool for 3D reconstruction and novel view synthesis. However, the computational cost of NeRF rendering and degradation in quality due to the presence of artifacts…

Robotic navigation concerns the task in which a robot should be able to find a safe and feasible path and traverse between two points in a complex environment. We approach the problem of robotic navigation using reinforcement learning and…

Human navigation in built environments depends on symbolic spatial information which has unrealised potential to enhance robot navigation capabilities. Information sources such as labels, signs, maps, planners, spoken directions, and…

Neural radiance fields (NeRFs) are a deep learning technique that can generate novel views of 3D scenes using sparse 2D images from different viewing directions and camera poses. As an extension of conventional NeRFs in underwater…

In this article, we propose a novel navigation framework that leverages a two layered graph representation of the environment for efficient large-scale exploration, while it integrates a novel uncertainty awareness scheme to handle dynamic…

An underlying assumption of many existing approaches to human-robot task communication is that the robot possesses a sufficient amount of environmental domain knowledge, including the locations of task-critical objects. This assumption is…

We consider the problems of exploration and point-goal navigation in previously unseen environments, where the spatial complexity of indoor scenes and partial observability constitute these tasks challenging. We argue that learning…

In various applications, such as robotic navigation and remote visual assistance, expanding the field of view (FOV) of the camera proves beneficial for enhancing environmental perception. Unlike image outpainting techniques aimed solely at…

Neural Radiance Fields (NeRF) have emerged as a powerful paradigm for 3D scene representation, offering high-fidelity renderings and reconstructions from a set of sparse and unstructured sensor data. In the context of autonomous robotics,…

Actively planning sensor views during object reconstruction is crucial for autonomous mobile robots. An effective method should be able to strike a balance between accuracy and efficiency. In this paper, we propose a seamless integration of…

Effective robot navigation in unseen environments is a challenging task that requires precise control actions at high frequencies. Recent advances have framed it as an image-goal-conditioned control problem, where the robot generates…

Traversability estimation in rugged, unstructured environments remains a challenging problem in field robotics. Often, the need for precise, accurate traversability estimation is in direct opposition to the limited sensing and compute…

This paper investigates the automatic exploration problem under the unknown environment, which is the key point of applying the robotic system to some social tasks. The solution to this problem via stacking decision rules is impossible to…

A critical limitation of current methods based on Neural Radiance Fields (NeRF) is that they are unable to quantify the uncertainty associated with the learned appearance and geometry of the scene. This information is paramount in real…

Comprehensive visual, geometric, and semantic understanding of a 3D scene is crucial for successful execution of robotic tasks, especially in unstructured and complex environments. Additionally, to make robust decisions, it is necessary for…

Many real-world 3D reconstruction applications demand photorealism and metric accuracy across unbounded, complex scenes with challenging lighting and imperfect captures that current Neural Radiance Field (NeRF) pipelines only partly…

In advanced mission concepts with high levels of autonomy, spacecraft need to internally model the pose and shape of nearby orbiting objects. Recent works in neural scene representations show promising results for inferring generic…

Implicit neural representations have demonstrated significant promise for 3D scene reconstruction. Recent works have extended their applications to autonomous implicit reconstruction through the Next Best View (NBV) based method. However,…