相关论文: PIG-Nav: Key Insights for Pretrained Image Goal Na…

In ObjectNav, agents must locate specific objects within unseen environments, requiring effective perception, prediction, localization and planning capabilities. This study finds that state-of-the-art embodied AI agents compete for higher…

We survey applications of pretrained foundation models in robotics. Traditional deep learning models in robotics are trained on small datasets tailored for specific tasks, which limits their adaptability across diverse applications. In…

Autonomous robots operating in open and changing environments cannot always rely on predefined inputs, outputs, and action routines. Although existing learning methods enable robots to improve their performance through environmental…

Endowing robots with human-like physical reasoning abilities remains challenging. We argue that existing methods often disregard spatio-temporal relations and by using Graph Neural Networks (GNNs) that incorporate a relational inductive…

Training end-to-end policies from image data to directly predict navigation actions for robotic systems has proven inherently difficult. Existing approaches often suffer from either the sim-to-real gap during policy transfer or a limited…

This paper investigates how the performance of visual navigation policies trained in simulation compares to policies trained with real-world data. Performance degradation of simulator-trained policies is often significant when they are…

In this paper, we present a semi-supervised fine-tuning approach designed to improve the performance of pre-trained foundation models on downstream tasks with limited labeled data. By leveraging content-style decomposition within an…

Vision-and-Language Navigation in Continuous Environments (VLN-CE), which links language instructions to perception and control in the real world, is a core capability of embodied robots. Recently, large-scale pretrained foundation models…

Semantic segmentation algorithms that can robustly segment objects across multiple camera viewpoints are crucial for assuring navigation and safety in emerging applications such as autonomous driving. Existing algorithms treat each image in…

Adding additional control to pretrained diffusion models has become an increasingly popular research area, with extensive applications in computer vision, reinforcement learning, and AI for science. Recently, several studies have proposed…

We describe a robotic learning system for autonomous exploration and navigation in diverse, open-world environments. At the core of our method is a learned latent variable model of distances and actions, along with a non-parametric…

Learning effective visuomotor policies for robots purely from data is challenging, but also appealing since a learning-based system should not require manual tuning or calibration. In the case of a robot operating in a real environment the…

The rapid advancement of autonomous systems, including self-driving vehicles and drones, has intensified the need to forge true Spatial Intelligence from multi-modal onboard sensor data. While foundation models excel in single-modal…

We present DreamToNav, a novel autonomous robot framework that uses generative video models to enable intuitive, human-in-the-loop control. Instead of relying on rigid waypoint navigation, users provide natural language prompts (e.g.…

Masked Image Modeling (MIM) techniques have redefined the landscape of computer vision, enabling pre-trained models to achieve exceptional performance across a broad spectrum of tasks. Despite their success, the full potential of MIM-based…

We propose a robotic learning system for autonomous exploration and navigation in unexplored environments. We are motivated by the idea that even an unseen environment may be familiar from previous experiences in similar environments. The…

Visual navigation is fundamental to autonomous systems, yet generating reliable trajectories in cluttered and uncertain environments remains a core challenge. Recent generative models promise end-to-end synthesis, but their reliance on…

Embodied agents are expected to perform object navigation in dynamic, open-world environments. However, existing approaches typically rely on static trajectories and a fixed set of object categories during training, overlooking the…

Embodied navigation in open, dynamic environments demands accurate foresight of how the world will evolve and how actions will unfold over time. We propose AstraNav-World, an end-to-end world model that jointly reasons about future visual…

Visual navigation is an essential skill for home-assistance robots, providing the object-searching ability to accomplish long-horizon daily tasks. Many recent approaches use Large Language Models (LLMs) for commonsense inference to improve…