相关论文: SAME: Learning Generic Language-Guided Visual Navi…

Capitalizing on the remarkable advancements in Large Language Models (LLMs), there is a burgeoning initiative to harness LLMs for instruction following robotic navigation. Such a trend underscores the potential of LLMs to generalize…

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…

We propose a novel model named Multi-Channel Attention Selection Generative Adversarial Network (SelectionGAN) for guided image-to-image translation, where we translate an input image into another while respecting an external semantic…

Reinforcement Learning (RL) agents often struggle to generalize knowledge to new tasks, even those structurally similar to ones they have mastered. Although recent approaches have attempted to mitigate this issue via zero-shot transfer,…

In the Vision-and-Language Navigation task, the embodied agent follows linguistic instructions and navigates to a specific goal. It is important in many practical scenarios and has attracted extensive attention from both computer vision and…

Evaluating multi-turn interactive agents is challenging due to the need for human assessment. Evaluation with simulated users has been introduced as an alternative, however existing approaches typically model generic users and overlook the…

Recent applications of deep learning to navigation have generated end-to-end navigation solutions whereby visual sensor input is mapped to control signals or to motion primitives. The resulting visual navigation strategies work very well at…

We develop a language-guided navigation task set in a continuous 3D environment where agents must execute low-level actions to follow natural language navigation directions. By being situated in continuous environments, this setting lifts a…

This paper proposes a novel simultaneous localization and mapping (SLAM) approach, namely Attention-SLAM, which simulates human navigation mode by combining a visual saliency model (SalNavNet) with traditional monocular visual SLAM. Most…

This paper studies the problem of image-goal navigation which involves navigating to the location indicated by a goal image in a novel previously unseen environment. To tackle this problem, we design topological representations for space…

Although an object may appear in numerous contexts, we often describe it in a limited number of ways. Language allows us to abstract away visual variation to represent and communicate concepts. Building on this intuition, we propose an…

Visual navigation in complex environments is inefficient with traditional reactive policy or general-purposed recurrent policy. To address the long-term memory issue, this paper proposes a graph attention memory (GAM) architecture…

We propose LCLA (Language-Conditioned Latent Alignment), a framework for vision-language navigation that learns modular perception-action interfaces by aligning sensory observations to a latent representation of an expert policy. The expert…

Building a general-purpose intelligent home-assistant agent skilled in diverse tasks by human commands is a long-term blueprint of embodied AI research, which poses requirements on task planning, environment modeling, and object…

Navigation presents a significant challenge for persons with visual impairments (PVI). While traditional aids such as white canes and guide dogs are invaluable, they fall short in delivering detailed spatial information and precise guidance…

Vision-language Navigation (VLN) tasks require an agent to navigate step-by-step while perceiving the visual observations and comprehending a natural language instruction. Large data bias, which is caused by the disparity ratio between the…

We introduce a novel setting, wherein an agent needs to learn a task from a demonstration of a related task with the difference between the tasks communicated in natural language. The proposed setting allows reusing demonstrations from…

In this paper, we present a novel approach to incrementally learn an Abstract Model of an unknown environment, and show how an agent can reuse the learned model for tackling the Object Goal Navigation task. The Abstract Model is a finite…

Multi-agent reinforcement learning involves multiple agents interacting with each other and a shared environment to complete tasks. When rewards provided by the environment are sparse, agents may not receive immediate feedback on the…

Segmentation is vital for ophthalmology image analysis. But its various modal images hinder most of the existing segmentation algorithms applications, as they rely on training based on a large number of labels or hold weak generalization…