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

Robust 3D object detection remains a pivotal concern in the domain of autonomous field robotics. Despite notable enhancements in detection accuracy across standard datasets, real-world urban environments, characterized by their unstructured…

The active view acquisition problem has been extensively studied in the context of robot navigation using NeRF and 3D Gaussian Splatting. To enhance scene reconstruction efficiency and ensure robot safety, we propose the Risk-aware…

In real-world applications with large state and action spaces, reinforcement learning (RL) typically employs function approximations to represent core components like the policies, value functions, and dynamics models. Although powerful…

Reinforcement Learning from Human Feedback (RLHF) has become central to aligning large language models with human values, typically by first learning a reward model from preference data which is then used to update the model with…

Neural representations have shown the potential to accelerate ray casting in a conventional ray-tracing-based rendering pipeline. We introduce a novel approach called Locally-Subdivided Neural Intersection Function (LSNIF) that replaces…

Robots typically possess sensors of different modalities, such as colour cameras, inertial measurement units, and 3D laser scanners. Often, solving a particular problem becomes easier when more than one modality is used. However, while…

Reinforcement Learning from Human Feedback (RLHF) is commonly employed to tailor models to human preferences, especially to improve the safety of outputs from large language models (LLMs). Traditionally, this method depends on selecting…

Efficiently aligning large-scale video diffusion models with human intent requires a scalable and trajectory-aware pathway that bridges the inherent discrepancy between training noise distributions and practical inference trajectories.…

We propose a novel visual re-localization method based on direct matching between the implicit 3D descriptors and the 2D image with transformer. A conditional neural radiance field(NeRF) is chosen as the 3D scene representation in our…

Humans inherently possess generalizable visual representations that empower them to efficiently explore and interact with the environments in manipulation tasks. We advocate that such a representation automatically arises from…

In complex missions such as search and rescue,robots must make intelligent decisions in unknown environments, relying on their ability to perceive and understand their surroundings. High-quality and real-time reconstruction enhances…

Reinforcement learning (RL) algorithms face significant challenges when dealing with long-horizon robot manipulation tasks in real-world environments due to sample inefficiency and safety issues. To overcome these challenges, we propose a…

Reconstruction of deformable scenes from endoscopic videos is important for many applications such as intraoperative navigation, surgical visual perception, and robotic surgery. It is a foundational requirement for realizing autonomous…

Aligning large language models (LLMs) with human preferences has become essential for safe and beneficial AI deployment. While Reinforcement Learning from Human Feedback (RLHF) established the dominant paradigm, a proliferation of…

A high-quality 3D reconstruction of a scene from a collection of 2D images can be achieved through offline/online mapping methods. In this paper, we explore active mapping from the perspective of implicit representations, which have…

Effective feature selection, representation and transformation are principal steps in machine learning to improve prediction accuracy, model generalization and computational efficiency. Reinforcement learning provides a new perspective…

Inverse Reinforcement Learning (IRL) and Reinforcement Learning from Human Feedback (RLHF) are pivotal methodologies in reward learning, which involve inferring and shaping the underlying reward function of sequential decision-making…

Latent scene representation plays a significant role in training reinforcement learning (RL) agents. To obtain good latent vectors describing the scenes, recent works incorporate the 3D-aware latent-conditioned NeRF pipeline into scene…

Reinforcement Learning from Human Feedback (RLHF) is popular in large language models (LLMs), whereas traditional Reinforcement Learning (RL) often falls short. Current autonomous driving methods typically utilize either human feedback in…

To enable robots to comprehend high-level human instructions and perform complex tasks, a key challenge lies in achieving comprehensive scene understanding: interpreting and interacting with the 3D environment in a meaningful way. This…