相关论文: Preference-Driven Active 3D Scene Representation f…

To improve human-preference alignment training, current research has developed numerous preference datasets consisting of preference pairs labeled as "preferred" or "dispreferred". These preference pairs are typically used to encode human…

Reconstructing compositional 3D representations of scenes, where each object is represented with its own 3D model, is a highly desirable capability in robotics and augmented reality. However, most existing methods rely heavily on strong…

Reinforcement learning from human feedback (RLHF) is a prevalent approach to align AI systems with human values by learning rewards from human preference data. Due to various reasons, however, such data typically takes the form of rankings…

This work presents a 3D multi-robot exploration framework for a team of UGVs moving on uneven terrains. The framework was designed by casting the two-level coordination strategy presented in [1] into the context of multi-robot exploration.…

Preference-aligned robot navigation in human environments is typically achieved through learning-based approaches, utilizing user feedback or demonstrations for personalization. However, personal preferences are subject to change and might…

Several variants of Neural Radiance Fields (NeRFs) have significantly improved the accuracy of synthesized images and surface reconstruction of 3D scenes/objects. In all of these methods, a key characteristic is that none can train the…

This work tackles the problem of overoptimization in reinforcement learning from human feedback (RLHF), a prevalent technique for aligning models with human preferences. RLHF relies on reward or preference models trained on \emph{fixed…

Given the complexities inherent in visual scenes, such as object occlusion, a comprehensive understanding often requires observation from multiple viewpoints. Existing multi-viewpoint object-centric learning methods typically employ random…

Equipped with Large Language Models (LLMs), human-centered robots are now capable of performing a wide range of tasks that were previously deemed challenging or unattainable. However, merely completing tasks is insufficient for cognitive…

This paper studies the alignment process of generative models with Reinforcement Learning from Human Feedback (RLHF). We first identify the primary challenges of existing popular methods like offline PPO and offline DPO as lacking in…

Active 3D reconstruction enables an agent to autonomously select viewpoints to efficiently obtain accurate and complete scene geometry, rather than passively reconstructing scenes from pre-collected images. However, existing active…

Multi-view implicit scene reconstruction methods have become increasingly popular due to their ability to represent complex scene details. Recent efforts have been devoted to improving the representation of input information and to reducing…

3D scene graphs have recently emerged as a powerful high-level representation of 3D environments. A 3D scene graph describes the environment as a layered graph where nodes represent spatial concepts at multiple levels of abstraction and…

This paper proposes a novel, more computationally efficient method for optimizing robot excitation trajectories for dynamic parameter identification, emphasizing self-collision avoidance. This addresses the system identification challenges…

3D Semantic Scene Graph Prediction aims to detect objects and their semantic relationships in 3D scenes, and has emerged as a crucial technology for robotics and AR/VR applications. While previous research has addressed dataset limitations…

Representing a scene and its constituent objects from raw sensory data is a core ability for enabling robots to interact with their environment. In this paper, we propose a novel approach for scene understanding, leveraging a hierarchical…

Implicit neural representations have demonstrated significant promise for 3D scene reconstruction. Recent works have extended their applications to autonomous implicit reconstruction through the Next Best View (NBV) based method. However,…

This paper proposes a framework for 3D obstacle avoidance in the presence of partial observability of environment obstacles. The method focuses on the utility of the Artificial Potential Function (APF) controller in a practical setting…

3D scene representation for robot manipulation should capture three key object properties: permanency -- objects that become occluded over time continue to exist; amodal completeness -- objects have 3D occupancy, even if only partial…

Responsive and accurate facial expression recognition is crucial to human-robot interaction for daily service robots. Nowadays, event cameras are becoming more widely adopted as they surpass RGB cameras in capturing facial expression…