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

Language-goal aerial navigation requires UAVs to localize targets in the complex outdoors, such as urban blocks based on textual instructions. The indoor methods are often hard to scale to urban scenes due to ambiguous objects, limited…

We aim to develop a goal specification method that is semantically clear, spatially sensitive, domain-agnostic, and intuitive for human users to guide agent interactions in 3D environments. Specifically, we propose a novel cross-view goal…

Visual navigation by mobile robots is classically tackled through SLAM plus optimal planning, and more recently through end-to-end training of policies implemented as deep networks. While the former are often limited to waypoint planning,…

We have observed significant progress in visual navigation for embodied agents. A common assumption in studying visual navigation is that the environments are static; this is a limiting assumption. Intelligent navigation may involve…

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…

Navigation tasks in photorealistic 3D environments are challenging because they require perception and effective planning under partial observability. Recent work shows that map-like memory is useful for long-horizon navigation tasks.…

We present a scalable approach for learning open-world object-goal navigation (ObjectNav) -- the task of asking a virtual robot (agent) to find any instance of an object in an unexplored environment (e.g., "find a sink"). Our approach is…

Understanding and following directions provided by humans can enable robots to navigate effectively in unknown situations. We present FollowNet, an end-to-end differentiable neural architecture for learning multi-modal navigation policies.…

We present Nav2Goal, a data-efficient and end-to-end learning method for goal-conditioned visual navigation. Our technique is used to train a navigation policy that enables a robot to navigate close to sparse geographic waypoints provided…

We study lifelong visual perception in an embodied setup, where we develop new models and compare various agents that navigate in buildings and occasionally request annotations which, in turn, are used to refine their visual perception…

Mobile agents that can leverage help from humans can potentially accomplish more complex tasks than they could entirely on their own. We develop "Help, Anna!" (HANNA), an interactive photo-realistic simulator in which an agent fulfills…

Vision-and-Language Navigation (VLN) is a task where an agent navigates in an embodied indoor environment under human instructions. Previous works ignore the distribution of sample difficulty and we argue that this potentially degrade their…

Humans learn from life events to form intuitions towards the understanding of visual environments and languages. Envision that you are instructed by a high-level instruction, "Go to the bathroom in the master bedroom and replace the blue…

The goal of object navigation is to reach the expected objects according to visual information in the unseen environments. Previous works usually implement deep models to train an agent to predict actions in real-time. However, in the…

Visual navigation has received significant attention recently. Most of the prior works focus on predicting navigation actions based on semantic features extracted from visual encoders. However, these approaches often rely on large datasets…

We describe a robotic learning system for autonomous exploration and navigation in diverse, open-world environments. At the core of our method is a learned latent variable model of distances and actions, along with a non-parametric…

A crucial ability of mobile intelligent agents is to integrate the evidence from multiple sensory inputs in an environment and to make a sequence of actions to reach their goals. In this paper, we attempt to approach the problem of…

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…

Object Goal Navigation (ObjectNav) refers to an agent navigating to an object in an unseen environment, which is an ability often required in the accomplishment of complex tasks. While existing methods demonstrate proficiency in isolated…

We propose a new method for improving zero-shot ObjectNav that aims to utilize potentially available environmental percepts for navigational assistance. Our approach takes into account that the ground agent may have limited and sometimes…