相关论文: Learning to Navigate in Mazes with Novel Layouts u…

Zero-shot object navigation requires agents to locate unseen target objects in unfamiliar environments without prior maps or task-specific training which remains a significant challenge. Although recent advancements in vision-language…

In video games, non-player characters (NPCs) are used to enhance the players' experience in a variety of ways, e.g., as enemies, allies, or innocent bystanders. A crucial component of NPCs is navigation, which allows them to move from one…

Mobile robot navigation in complex and dynamic environments is a challenging but important problem. Reinforcement learning approaches fail to solve these tasks efficiently due to reward sparsities, temporal complexities and…

In the area of autonomous driving, navigating off-road terrains presents a unique set of challenges, from unpredictable surfaces like grass and dirt to unexpected obstacles such as bushes and puddles. In this work, we present a novel…

Inspired by research in psychology, we introduce a behavioral approach for visual navigation using topological maps. Our goal is to enable a robot to navigate from one location to another, relying only on its visual input and the…

Deep Reinforcement Learning (RL) models often fail to generalize when even small changes occur in the environment's observations or task requirements. Addressing these shifts typically requires costly retraining, limiting the reusability of…

In this work, we present a memory-augmented approach for image-goal navigation. Earlier attempts, including RL-based and SLAM-based approaches have either shown poor generalization performance, or are heavily-reliant on pose/depth sensors.…

Autonomous navigation based on precise localization has been widely developed in both academic research and practical applications. The high demand for localization accuracy has been essential for safe robot planing and navigation while it…

Today's autonomous vehicles rely extensively on high-definition 3D maps to navigate the environment. While this approach works well when these maps are completely up-to-date, safe autonomous vehicles must be able to corroborate the map's…

The idea of reusing or transferring information from previously learned tasks (source tasks) for the learning of new tasks (target tasks) has the potential to significantly improve the sample efficiency of a reinforcement learning agent. In…

Being able to perceive the semantics and the spatial structure of the environment is essential for visual navigation of a household robot. However, most existing works only employ visual backbones pre-trained either with independent images…

Autonomous navigation is an essential capability of smart mobility for mobile robots. Traditional methods must have the environment map to plan a collision-free path in workspace. Deep reinforcement learning (DRL) is a promising technique…

We propose a method to tackle the problem of mapless collision-avoidance navigation where humans are present using 2D laser scans. Our proposed method uses ego-safety to measure collision from the robot's perspective while social-safety to…

Navigation is a complex skill with a long history of research in animals and humans. In this work, we simulate the Morris Water Maze in 2D to train deep reinforcement learning agents. We perform automatic classification of navigation…

Mapping is crucial for spatial reasoning, planning and robot navigation. Existing approaches range from metric, which require precise geometry-based optimization, to purely topological, where image-as-node based graphs lack explicit…

"Embodied visual navigation" problem requires an agent to navigate in a 3D environment mainly rely on its first-person observation. This problem has attracted rising attention in recent years due to its wide application in autonomous…

We introduce a new memory architecture for navigation in previously unseen environments, inspired by landmark-based navigation in animals. The proposed semi-parametric topological memory (SPTM) consists of a (non-parametric) graph with…

Zero-shot learning deals with the ability to recognize objects without any visual training sample. To counterbalance this lack of visual data, each class to recognize is associated with a semantic prototype that reflects the essential…

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…

Object-Goal Navigation (ObjectNav) requires an agent to find and navigate to a target object category in unknown environments. While recent Large Language Model (LLM)-based agents exhibit zero-shot reasoning, they often rely on a "reactive"…