相关论文: Semantically-driven Deep Reinforcement Learning fo…

Autonomous 3D environment exploration is a fundamental task for various applications such as navigation. The goal of exploration is to investigate a new environment and build its occupancy map efficiently. In this paper, we propose a new…

In this paper, we propose SEA, a novel approach for active robot exploration through semantic map prediction and a reinforcement learning-based hierarchical exploration policy. Unlike existing learning-based methods that rely on one-step…

Visual navigation for autonomous agents is a core task in the fields of computer vision and robotics. Learning-based methods, such as deep reinforcement learning, have the potential to outperform the classical solutions developed for this…

Autonomous navigation is challenging for mobile robots, especially in an unknown environment. Commonly, the robot requires multiple sensors to map the environment, locate itself, and make a plan to reach the target. However, reinforcement…

Reinforcement learning has received high research interest for developing planning approaches in automated driving. Most prior works consider the end-to-end planning task that yields direct control commands and rarely deploy their algorithm…

With the development of state-of-art deep reinforcement learning, we can efficiently tackle continuous control problems. But the deep reinforcement learning method for continuous control is based on historical data, which would make…

Assistance robots have gained widespread attention in various industries such as logistics and human assistance. The tasks of guiding or following a human in a crowded environment such as airports or train stations to carry weight or goods…

Navigating and understanding complex and unknown environments autonomously demands more than just basic perception and movement from embodied agents. Truly effective exploration requires agents to possess higher-level cognitive abilities,…

Intelligent embodied agents (e.g. robots) need to perform complex semantic tasks in unfamiliar environments. Among many skills that the agents need to possess, building and maintaining a semantic map of the environment is most crucial in…

In shared autonomy, user input is combined with semi-autonomous control to achieve a common goal. The goal is often unknown ex-ante, so prior work enables agents to infer the goal from user input and assist with the task. Such methods tend…

Exploration in an unknown environment is the core functionality for mobile robots. Learning-based exploration methods, including convolutional neural networks, provide excellent strategies without human-designed logic for the feature…

The increasing demand for autonomous systems in complex and dynamic environments has driven significant research into intelligent path planning methodologies. For decades, graph-based search algorithms, linear programming techniques, and…

To autonomously navigate and plan interactions in real-world environments, robots require the ability to robustly perceive and map complex, unstructured surrounding scenes. Besides building an internal representation of the observed scene…

This paper addresses semantic planning problems in unknown environments under perceptual uncertainty. The environment contains multiple unknown semantically labeled regions or objects, and the robot must reach desired locations while…

In this paper, we propose an integrated framework for the autonomous robotic exploration in indoor environments. Specially, we present a hybrid map, named Semantic Road Map (SRM), to represent the topological structure of the explored…

We consider the problem of object goal navigation in unseen environments. Solving this problem requires learning of contextual semantic priors, a challenging endeavour given the spatial and semantic variability of indoor environments.…

Semantic segmentation of aerial imagery is an important tool for mapping and earth observation. However, supervised deep learning models for segmentation rely on large amounts of high-quality labelled data, which is labour-intensive and…

This paper presents a Deep Reinforcement Learning based navigation approach in which we define the occupancy observations as heuristic evaluations of motion primitives, rather than using raw sensor data. Our method enables fast mapping of…

In the context of visual navigation, the capacity to map a novel environment is necessary for an agent to exploit its observation history in the considered place and efficiently reach known goals. This ability can be associated with spatial…

In this work, we propose a deep reinforcement learning (DRL) based reactive planner to solve large-scale Lidar-based autonomous robot exploration problems in 2D action space. Our DRL-based planner allows the agent to reactively plan its…