相关论文: REGNav: Room Expert Guided Image-Goal Navigation

Language understanding is essential for the navigation agent to follow instructions. We observe two kinds of issues in the instructions that can make the navigation task challenging: 1. The mentioned landmarks are not recognizable by the…

Mobile robots exploring indoor environments increasingly rely on vision-language models to perceive high-level semantic cues in camera images, such as object categories. Such models offer the potential to substantially advance robot…

Robotic learning for navigation in unfamiliar environments needs to provide policies for both task-oriented navigation (i.e., reaching a goal that the robot has located), and task-agnostic exploration (i.e., searching for a goal in a novel…

Object goal navigation is a fundamental task in embodied AI, where an agent is instructed to locate a target object in an unexplored environment. Traditional learning-based methods rely heavily on large-scale annotated data or require…

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…

This paper presents an architecture and methodology to empower a service robot to navigate an indoor environment with semantic decision making, given RGB ego view. This method leverages the knowledge of robot's actuation capability and that…

The ability to navigate from visual observations in unfamiliar environments is a core component of intelligent agents and an ongoing challenge for Deep Reinforcement Learning (RL). Street View can be a sensible testbed for such RL agents,…

Learning to navigate in complex environments with dynamic elements is an important milestone in developing AI agents. In this work we formulate the navigation question as a reinforcement learning problem and show that data efficiency and…

Current visual navigation strategies mainly follow an exploration-first and then goal-directed navigation paradigm. This exploratory phase inevitably compromises the overall efficiency of navigation. Recent studies propose leveraging floor…

State-of-the-art navigation methods leverage a spatial memory to generalize to new environments, but their occupancy maps are limited to capturing the geometric structures directly observed by the agent. We propose occupancy anticipation,…

Goal recognition design (GRD) aims to make limited modifications to decision-making environments to make it easier to infer the goals of agents acting within those environments. Although various research efforts have been made in goal…

"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…

Vision language navigation is the task that requires an agent to navigate through a 3D environment based on natural language instructions. One key challenge in this task is to ground instructions with the current visual information that the…

This works presents a formulation for visual navigation that unifies map based spatial reasoning and path planning, with landmark based robust plan execution in noisy environments. Our proposed formulation is learned from data and is thus…

Robotic navigation in environments shared with other robots or humans remains challenging because the intentions of the surrounding agents are not directly observable and the environment conditions are continuously changing. Local…

Vision-and-Language Navigation (VLN) requires an agent to navigate in a real-world environment following natural language instructions. From both the textual and visual perspectives, we find that the relationships among the scene, its…

In audio-visual navigation, an agent intelligently travels through a complex, unmapped 3D environment using both sights and sounds to find a sound source (e.g., a phone ringing in another room). Existing models learn to act at a fixed…

To enhance the cross-target and cross-scene generalization of target-driven visual navigation based on deep reinforcement learning (RL), we introduce an information-theoretic regularization term into the RL objective. The regularization…

With the increase in demands for service robots and automated inspection, agents need to localize in its surrounding environment to achieve more natural communication with humans by shared contexts. In this work, we propose a novel but…

Getting robots to navigate to multiple objects autonomously is essential yet difficult in robot applications. One of the key challenges is how to explore environments efficiently with camera sensors only. Existing navigation methods mainly…