相关论文: VertiFormer: A Data-Efficient Multi-Task Transform…

Humans are excellent at understanding language and vision to accomplish a wide range of tasks. In contrast, creating general instruction-following embodied agents remains a difficult challenge. Prior work that uses pure language-only models…

Predicting the future movements of surrounding vehicles is essential for ensuring the safe operation and efficient navigation of autonomous vehicles (AVs) in urban traffic environments. Existing vehicle trajectory prediction methods…

Legged robots, particularly quadrupeds, offer promising navigation capabilities, especially in scenarios requiring traversal over diverse terrains and obstacle avoidance. This paper addresses the challenge of enabling legged robots to…

Visual Place Recognition (VPR) is crucial for robust mobile robot localization, yet it faces significant challenges in maintaining reliable performance under varying environmental conditions and viewpoints. To address this, we propose a…

It is a challenging task to learn discriminative representation from images and videos, due to large local redundancy and complex global dependency in these visual data. Convolution neural networks (CNNs) and vision transformers (ViTs) have…

Moving in dynamic pedestrian environments is one of the important requirements for autonomous mobile robots. We present a model-based reinforcement learning approach for robots to navigate through crowded environments. The navigation policy…

Transfer learning has the potential to reduce the burden of data collection and to decrease the unavoidable risks of the training phase. In this letter, we introduce a multirobot, multitask transfer learning framework that allows a system…

Recently, pure transformer-based models have shown great potentials for vision tasks such as image classification and detection. However, the design of transformer networks is challenging. It has been observed that the depth, embedding…

Interacting with the actual environment to acquire data is often costly and time-consuming in robotic tasks. Model-based offline reinforcement learning (RL) provides a feasible solution. On the one hand, it eliminates the requirements of…

Pretraining Vision Transformers (ViTs) has achieved great success in visual recognition. A following scenario is to adapt a ViT to various image and video recognition tasks. The adaptation is challenging because of heavy computation and…

Autonomous navigation in off-road environments remains a significant challenge in field robotics, particularly for Unmanned Ground Vehicles (UGVs) tasked with search and rescue, exploration, and surveillance. Effective long-range planning…

Understanding trajectory diversity is a fundamental aspect of addressing practical traffic tasks. However, capturing the diversity of trajectories presents challenges, particularly with traditional machine learning and recurrent neural…

Traffic forecasting is an indispensable part of Intelligent transportation systems (ITS), and long-term network-wide accurate traffic speed forecasting is one of the most challenging tasks. Recently, deep learning methods have become…

Transforming road network data into vector representations using deep learning has proven effective for road network analysis. However, urban road networks' heterogeneous and hierarchical nature poses challenges for accurate representation…

Traditional vision-based autonomous driving systems often face difficulties in navigating complex environments when relying solely on single-image inputs. To overcome this limitation, incorporating temporal data such as past image frames or…

Transformer is a promising neural network learner, and has achieved great success in various machine learning tasks. Thanks to the recent prevalence of multimodal applications and big data, Transformer-based multimodal learning has become a…

Robots must adapt to diverse human instructions and operate safely in unstructured, open-world environments. Recent Vision-Language models (VLMs) offer strong priors for grounding language and perception, but remain difficult to steer for…

Learning discriminative spatiotemporal representation is the key problem of video understanding. Recently, Vision Transformers (ViTs) have shown their power in learning long-term video dependency with self-attention. Unfortunately, they…

Multivariate time series forecasting focuses on predicting future values based on historical context. State-of-the-art sequence-to-sequence models rely on neural attention between timesteps, which allows for temporal learning but fails to…

To solve tasks in complex environments, robots need to learn from experience. Deep reinforcement learning is a common approach to robot learning but requires a large amount of trial and error to learn, limiting its deployment in the…