相关论文: X-Nav: Learning End-to-End Cross-Embodiment Naviga…

Enabling robots to autonomously navigate complex environments is essential for real-world deployment. Prior methods approach this problem by having the robot maintain an internal map of the world, and then use a localization and planning…

In this paper, a novel deep reinforcement learning (DRL)-based method is proposed to navigate the robot team through unknown complex environments, where the geometric centroid of the robot team aims to reach the goal position while avoiding…

Scaling up robot learning requires large and diverse datasets, and how to efficiently reuse collected data and transfer policies to new embodiments remains an open question. Emerging research such as the Open-X Embodiment (OXE) project has…

While recent advances have demonstrated strong performance in individual humanoid skills such as upright locomotion, fall recovery and whole-body coordination, learning a single policy that masters all these skills remains challenging due…

Autonomous driving presents many challenges due to the large number of scenarios the autonomous vehicle (AV) may encounter. End-to-end deep learning models are comparatively simplistic models that can handle a broad set of scenarios.…

Visual Semantic Navigation (VSN) is the ability of a robot to learn visual semantic information for navigating in unseen environments. These VSN models are typically tested in those virtual environments where they are trained, mainly using…

Humanoid robots are envisioned as embodied intelligent agents capable of performing a wide range of human-level loco-manipulation tasks, particularly in scenarios requiring strenuous and repetitive labor. However, learning these skills is…

Successful generalist Vision-Language-Action (VLA) models rely on effective training across diverse robotic platforms with large-scale, cross-embodiment, heterogeneous datasets. To facilitate and leverage the heterogeneity in rich, diverse…

Learning from demonstration for motion planning is an ongoing research topic. In this paper we present a model that is able to learn the complex mapping from raw 2D-laser range findings and a target position to the required steering…

End-to-end learning directly maps sensory inputs to actions, creating highly integrated and efficient policies for complex robotics tasks. However, such models often struggle to generalize beyond their training scenarios, limiting…

We present VLMnav, an embodied framework to transform a Vision-Language Model (VLM) into an end-to-end navigation policy. In contrast to prior work, we do not rely on a separation between perception, planning, and control; instead, we use a…

Imitation learning-based robot control policies are enjoying renewed interest in video-based robotics. However, it remains unclear whether this approach applies to X-ray-guided procedures, such as spine instrumentation, with sparse inputs.…

Visual navigation is essential for many applications in robotics, from manipulation, through mobile robotics to automated driving. Deep reinforcement learning (DRL) provides an elegant map-free approach integrating image processing,…

End-to-end robot policies achieve high performance through neural networks trained via reinforcement learning (RL). Yet, their black box nature and abstract reasoning pose challenges for human-robot interaction (HRI), because humans may…

Scaling robot learning to long-horizon tasks remains a formidable challenge. While end-to-end policies often lack the structural priors needed for effective long-term reasoning, traditional neuro-symbolic methods rely heavily on…

We present a novel approach for image-goal navigation, where an agent navigates with a goal image rather than accurate target information, which is more challenging. Our goal is to decouple the learning of navigation goal planning,…

End-to-end autonomous driving models are typically trained on multi-city datasets using supervised ImageNet-pretrained backbones, yet their ability to generalize to unseen cities remains largely unexamined. When training and evaluation data…

Model-free reinforcement learning has recently been shown to be effective at learning navigation policies from complex image input. However, these algorithms tend to require large amounts of interaction with the environment, which can be…

Embodied navigation requires an agent to map language and visual observations to a stream of spatial actions that drive a real robot through environments it has never seen. The dominant approach has been to scale vision-language-action…

In this paper, we present a decentralized sensor-level collision avoidance policy for multi-robot systems, which shows promising results in practical applications. In particular, our policy directly maps raw sensor measurements to an…