相关论文: EDEN: Entorhinal Driven Egocentric Navigation Towa…

Embodied navigation (EN) advances traditional navigation by enabling robots to perform complex egocentric tasks through sensing, social, and motion intelligence. In contrast to classic methodologies that rely on explicit localization and…

Deep neural networks continue to show improved performance with increasing depth, an encouraging trend that implies an explosion in the possible permutations of network architectures and hyperparameters for which there is little intuitive…

Decades of research on the neural code underlying spatial navigation have revealed a diverse set of neural response properties. The Entorhinal Cortex (EC) of the mammalian brain contains a rich set of spatial correlates, including grid…

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…

Tactile sensing remains far less understood in neuroscience and less effective in artificial systems compared to more mature modalities such as vision and language. We bridge these gaps by introducing a novel Encoder-Attender-Decoder (EAD)…

Autonomous navigation is crucial for both medical and industrial endoscopic robots, enabling safe and efficient exploration of narrow tubular environments without continuous human intervention, where avoiding contact with the inner walls…

Modern neuroscience employs in silico experimentation on ever-increasing and more detailed neural networks. The high modelling detail goes hand in hand with the need for high model reproducibility, reusability and transparency. Besides, the…

The message-passing scheme is the core of graph representation learning. While most existing message-passing graph neural networks (MPNNs) are permutation-invariant in graph-level representation learning and permutation-equivariant in node-…

The entorhinal-hippocampal formation is the mammalian brain's navigation system, encoding both physical and abstract spaces via grid cells. This system is well-studied in neuroscience, and its efficiency and versatility make it attractive…

This paper proposes an end-to-end deep reinforcement learning approach for mobile robot navigation with dynamic obstacles avoidance. Using experience collected in a simulation environment, a convolutional neural network (CNN) is trained to…

The directed graph (digraph), as a generalization of undirected graphs, exhibits superior representation capability in modeling complex topology systems and has garnered considerable attention in recent years. Despite the notable efforts…

Vision-language pre-training has been an emerging and fast-developing research topic, which transfers multi-modal knowledge from rich-resource pre-training task to limited-resource downstream tasks. Unlike existing works that predominantly…

Learning to navigate in unstructured environments is a challenging task for robots. While reinforcement learning can be effective, it often requires extensive data collection and can pose risk. Learning from expert demonstrations, on the…

Modeling the cognitive and experiential factors of human navigation is central to deepening our understanding of human-environment interaction and to enabling safe social navigation and effective assistive wayfinding. Most existing methods…

Driving in a dynamic, multi-agent, and complex urban environment is a difficult task requiring a complex decision-making policy. The learning of such a policy requires a state representation that can encode the entire environment. Mid-level…

Multimodal large-scale datasets for outdoor scenes are mostly designed for urban driving problems. The scenes are highly structured and semantically different from scenarios seen in nature-centered scenes such as gardens or parks. To…

Navigating complex indoor environments requires a deep understanding of the space the robotic agent is acting into to correctly inform the navigation process of the agent towards the goal location. In recent learning-based navigation…

Animal navigation research posits that organisms build and maintain internal spatial representations, or maps, of their environment. We ask if machines -- specifically, artificial intelligence (AI) navigation agents -- also build implicit…

Recent years have seen embodied visual navigation advance in two distinct directions: (i) in equipping the AI agent to follow natural language instructions, and (ii) in making the navigable world multimodal, e.g., audio-visual navigation.…

We train embodied neural networks to plan and navigate unseen complex 3D environments, emphasising real-world deployment. Rather than requiring prior knowledge of the agent or environment, the planner learns to model the state transitions…