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

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…

We present a target-driven navigation system to improve mapless visual navigation in indoor scenes. Our method takes a multi-view observation of a robot and a target as inputs at each time step to provide a sequence of actions that move the…

Core to the vision-and-language navigation (VLN) challenge is building robust instruction representations and action decoding schemes, which can generalize well to previously unseen instructions and environments. In this paper, we report…

Deep reinforcement learning (RL) has been successfully applied to a variety of game-like environments. However, the application of deep RL to visual navigation with realistic environments is a challenging task. We propose a novel learning…

Accomplishing household tasks requires to plan step-by-step actions considering the consequences of previous actions. However, the state-of-the-art embodied agents often make mistakes in navigating the environment and interacting with…

For robots navigating in human-populated environments, safety and social compliance are equally critical, yet prior work has mostly emphasized safety. Socially compliant navigation that accounts for human comfort, social norms, and…

Self-supervised learning is popular method because of its ability to learn features in images without using its labels and is able to overcome limited labeled datasets used in supervised learning. Self-supervised learning works by using a…

Neural-based learning agents make decisions using internal artificial neural networks. In certain situations, it becomes pertinent that this knowledge is re-interpreted in a friendly form to both the human and the machine. These situations…

Depth-aware panoptic segmentation is an emerging topic in computer vision which combines semantic and geometric understanding for more robust scene interpretation. Recent works pursue unified frameworks to tackle this challenge but mostly…

Vision-and-language navigation (VLN) is a challenging task that requires an agent to navigate in real-world environments by understanding natural language instructions and visual information received in real-time. Prior works have…

Today's state of the art visual navigation agents typically consist of large deep learning models trained end to end. Such models offer little to no interpretability about the learned skills or the actions of the agent taken in response to…

Intelligent navigation among social crowds is an essential aspect of mobile robotics for applications such as delivery, health care, or assistance. Deep Reinforcement Learning emerged as an alternative planning method to conservative…

Deep Metric Learning (DML) proposes to learn metric spaces which encode semantic similarities as embedding space distances. These spaces should be transferable to classes beyond those seen during training. Commonly, DML methods task…

We build a theoretical framework for designing and understanding practical meta-learning methods that integrates sophisticated formalizations of task-similarity with the extensive literature on online convex optimization and sequential…

Neural abstractive summarization models are flexible and can produce coherent summaries, but they are sometimes unfaithful and can be difficult to control. While previous studies attempt to provide different types of guidance to control the…

This paper studies category-level object pose estimation based on a single monocular image. Recent advances in pose-aware generative models have paved the way for addressing this challenging task using analysis-by-synthesis. The idea is to…

Assistance robots have gained widespread attention in various industries such as logistics and human assistance. The tasks of guiding or following a human in a crowded environment such as airports or train stations to carry weight or goods…

Large Language Models (LLMs) have demonstrated potential in Vision-and-Language Navigation (VLN) tasks, yet current applications face challenges. While LLMs excel in general conversation scenarios, they struggle with specialized navigation…

Leveraging multimodal large language models (MLLMs) to develop embodied agents offers significant promise for addressing complex real-world tasks. However, current evaluation benchmarks remain predominantly language-centric or heavily…

Navigational perception for visually impaired people has been substantially promoted by both classic and deep learning based segmentation methods. In classic visual recognition methods, the segmentation models are mostly object-dependent,…